Revision 276
cleaned up library - dos2unix and delete-trailing-whitespace
rangefinder.c | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file rangefinder.c |
|
29 |
* @brief Rangefinders |
|
30 |
* |
|
31 |
* Implementation of functions for rangefinder use. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
**/ |
|
35 |
|
|
36 |
/* |
|
37 |
Authors: James Kong and Greg Tress |
|
38 |
|
|
39 |
Last Modified: 4/30/06 by James |
|
40 |
-Started log_distance conversion function !!!NOT COMPLETE!!! |
|
41 |
-Cleaning up comments |
|
42 |
|
|
43 |
----------------- |
|
44 |
rangefinder.c |
|
45 |
Using Sharp GP2D02 IR Rangefinder |
|
46 |
|
|
47 |
Vin is the input to the rangefinder, designated RANGE_CTRL. |
|
48 |
Vout is the output from the rangefinder, designated RANGE_IN# where # is the rangefinder you are reading from |
|
49 |
|
|
50 |
Expected Initial Conditions: |
|
51 |
Vin is high and Vout should read high. |
|
52 |
|
|
53 |
Usage: |
|
54 |
1.) Set Vin low. Vout should read low. |
|
55 |
2.) Wait for high on Vout. |
|
56 |
3.) Begin clocking Vin and reading 8 bits from Vout (MSB first). |
|
57 |
4.) Set Vin high for 2ms or more to turn off rangefinder |
|
58 |
|
|
59 |
*/ |
|
60 |
|
|
61 |
#include "dragonfly_lib.h" |
|
62 |
#include "rangefinder.h" |
|
63 |
|
|
64 |
/* |
|
65 |
read_distance returns the 8-bit reading from the rangefinder |
|
66 |
parameters: |
|
67 |
range_id - dio pin set as the rangefinder Vout [i.e. RANGE_IN0] |
|
68 |
|
|
69 |
NOTE: |
|
70 |
The Sharp GD2D02 returns values on a decreasing logrithmic scale. |
|
71 |
So higher values correspond to closer distances. Use linearize_distance to convert to normal centimeter scale. Also, when reading distances closer than 8cm, the Sharp GD2D02 will return lower values than the values at 8cm. |
|
72 |
At this point, we are only reading from one rangefinder [RANGE_IN0]. |
|
73 |
*/ |
|
74 |
|
|
75 |
// constants |
|
76 |
/* Nasty IR approximation table |
|
77 |
I'm using this for the heck of it. We can do whatever. |
|
78 |
|
|
79 |
Note the minimum value is .4V (20), and the maximum is 2.6V (133). |
|
80 |
Gives distance in mm. |
|
81 |
|
|
82 |
excel formula(valid for inputs 20-133): ROUND(2353.6*(E2^(-1.1146))*10,0) |
|
83 |
|
|
84 |
This is only valid for the GP2D12, with objects directly ahead and more than |
|
85 |
10cm from the detector. See the datasheet for more information. |
|
86 |
*/ |
|
87 |
|
|
88 |
#define MIN_IR_ADC8 20 |
|
89 |
#define MAX_IR_ADC8 133 |
|
90 |
|
|
91 |
static int IR_dist_conversion[114] = { |
|
92 |
800,791,751,714,681,651,623,597,574,552,531,512,494,478,462,447 |
|
93 |
,434,421,408,397,386,375,365,356,347,338,330,322,315,307,301,294 |
|
94 |
,288,282,276,270,265,260,255,250,245,241,237,232,228,224,221,217 |
|
95 |
,213,210,207,203,200,197,194,191,189,186,183,181,178,176,173,171 |
|
96 |
,169,166,164,162,160,158,156,154,152,151,149,147,145,144,142,140 |
|
97 |
,139,137,136,134,133,131,130,129,127,126,125,124,122,121,120,119 |
|
98 |
,118,117,115,114,113,112,111,110,109,108,107,106,105,105,104,103 |
|
99 |
,102,101 |
|
100 |
}; |
|
101 |
|
|
102 |
int linearize_distance(int value); |
|
103 |
|
|
104 |
/** |
|
105 |
* @defgroup rangefinder Rangefinder |
|
106 |
* @brief Functions for using the IR rangefinders |
|
107 |
* |
|
108 |
* Functions for using the IR rangefinders. |
|
109 |
* |
|
110 |
* @{ |
|
111 |
**/ |
|
112 |
|
|
113 |
/** |
|
114 |
* Initializes the rangefinders. This must be called before |
|
115 |
* range_read_distance. |
|
116 |
* |
|
117 |
* @see range_read_distance |
|
118 |
**/ |
|
119 |
void range_init(void){ |
|
120 |
digital_output(_PIN_B4,0); |
|
121 |
} |
|
122 |
|
|
123 |
/** |
|
124 |
* Reads the distance measured by one of the rangefinders. |
|
125 |
* This distance is in arbitrary units. |
|
126 |
* |
|
127 |
* @param range_id the rangefinder to use. This should be one |
|
128 |
* of the constants IR1 - IR5. |
|
129 |
* |
|
130 |
* @return the distance measured by the rangefinder |
|
131 |
* |
|
132 |
* @see range_init |
|
133 |
**/ |
|
134 |
int range_read_distance (int range_id) { |
|
135 |
return linearize_distance(analog8(range_id)); |
|
136 |
} |
|
137 |
|
|
138 |
/** @} **/ //end defgroup |
|
139 |
|
|
140 |
int linearize_distance(int value) |
|
141 |
{ |
|
142 |
if(value < MIN_IR_ADC8) |
|
143 |
{ |
|
144 |
return -1; |
|
145 |
} |
|
146 |
else if(value > MAX_IR_ADC8) |
|
147 |
{ |
|
148 |
return -1; |
|
149 |
} |
|
150 |
else |
|
151 |
{ |
|
152 |
return IR_dist_conversion[value - MIN_IR_ADC8]; |
|
153 |
} |
|
154 |
} |
|
155 |
|
|
156 |
|
|
157 |
|
|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file rangefinder.c |
|
29 |
* @brief Rangefinders |
|
30 |
* |
|
31 |
* Implementation of functions for rangefinder use. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
**/ |
|
35 |
|
|
36 |
/* |
|
37 |
Authors: James Kong and Greg Tress |
|
38 |
|
|
39 |
Last Modified: 4/30/06 by James |
|
40 |
-Started log_distance conversion function !!!NOT COMPLETE!!! |
|
41 |
-Cleaning up comments |
|
42 |
|
|
43 |
----------------- |
|
44 |
rangefinder.c |
|
45 |
Using Sharp GP2D02 IR Rangefinder |
|
46 |
|
|
47 |
Vin is the input to the rangefinder, designated RANGE_CTRL. |
|
48 |
Vout is the output from the rangefinder, designated RANGE_IN# where # is the rangefinder you are reading from |
|
49 |
|
|
50 |
Expected Initial Conditions: |
|
51 |
Vin is high and Vout should read high. |
|
52 |
|
|
53 |
Usage: |
|
54 |
1.) Set Vin low. Vout should read low. |
|
55 |
2.) Wait for high on Vout. |
|
56 |
3.) Begin clocking Vin and reading 8 bits from Vout (MSB first). |
|
57 |
4.) Set Vin high for 2ms or more to turn off rangefinder |
|
58 |
|
|
59 |
*/ |
|
60 |
|
|
61 |
#include "dragonfly_lib.h" |
|
62 |
#include "rangefinder.h" |
|
63 |
|
|
64 |
/* |
|
65 |
read_distance returns the 8-bit reading from the rangefinder |
|
66 |
parameters: |
|
67 |
range_id - dio pin set as the rangefinder Vout [i.e. RANGE_IN0] |
|
68 |
|
|
69 |
NOTE: |
|
70 |
The Sharp GD2D02 returns values on a decreasing logrithmic scale. |
|
71 |
So higher values correspond to closer distances. Use linearize_distance to convert to normal centimeter scale. Also, when reading distances closer than 8cm, the Sharp GD2D02 will return lower values than the values at 8cm. |
|
72 |
At this point, we are only reading from one rangefinder [RANGE_IN0]. |
|
73 |
*/ |
|
74 |
|
|
75 |
// constants |
|
76 |
/* Nasty IR approximation table |
|
77 |
I'm using this for the heck of it. We can do whatever. |
|
78 |
|
|
79 |
Note the minimum value is .4V (20), and the maximum is 2.6V (133). |
|
80 |
Gives distance in mm. |
|
81 |
|
|
82 |
excel formula(valid for inputs 20-133): ROUND(2353.6*(E2^(-1.1146))*10,0) |
|
83 |
|
|
84 |
This is only valid for the GP2D12, with objects directly ahead and more than |
|
85 |
10cm from the detector. See the datasheet for more information. |
|
86 |
*/ |
|
87 |
|
|
88 |
#define MIN_IR_ADC8 20 |
|
89 |
#define MAX_IR_ADC8 133 |
|
90 |
|
|
91 |
static int IR_dist_conversion[114] = { |
|
92 |
800,791,751,714,681,651,623,597,574,552,531,512,494,478,462,447 |
|
93 |
,434,421,408,397,386,375,365,356,347,338,330,322,315,307,301,294 |
|
94 |
,288,282,276,270,265,260,255,250,245,241,237,232,228,224,221,217 |
|
95 |
,213,210,207,203,200,197,194,191,189,186,183,181,178,176,173,171 |
|
96 |
,169,166,164,162,160,158,156,154,152,151,149,147,145,144,142,140 |
|
97 |
,139,137,136,134,133,131,130,129,127,126,125,124,122,121,120,119 |
|
98 |
,118,117,115,114,113,112,111,110,109,108,107,106,105,105,104,103 |
|
99 |
,102,101 |
|
100 |
}; |
|
101 |
|
|
102 |
int linearize_distance(int value); |
|
103 |
|
|
104 |
/** |
|
105 |
* @defgroup rangefinder Rangefinder |
|
106 |
* @brief Functions for using the IR rangefinders |
|
107 |
* |
|
108 |
* Functions for using the IR rangefinders. |
|
109 |
* |
|
110 |
* @{ |
|
111 |
**/ |
|
112 |
|
|
113 |
/** |
|
114 |
* Initializes the rangefinders. This must be called before |
|
115 |
* range_read_distance. |
|
116 |
* |
|
117 |
* @see range_read_distance |
|
118 |
**/ |
|
119 |
void range_init(void){ |
|
120 |
digital_output(_PIN_B4,0); |
|
121 |
} |
|
122 |
|
|
123 |
/** |
|
124 |
* Reads the distance measured by one of the rangefinders. |
|
125 |
* This distance is in arbitrary units. |
|
126 |
* |
|
127 |
* @param range_id the rangefinder to use. This should be one |
|
128 |
* of the constants IR1 - IR5. |
|
129 |
* |
|
130 |
* @return the distance measured by the rangefinder |
|
131 |
* |
|
132 |
* @see range_init |
|
133 |
**/ |
|
134 |
int range_read_distance (int range_id) { |
|
135 |
return linearize_distance(analog8(range_id)); |
|
136 |
} |
|
137 |
|
|
138 |
/** @} **/ //end defgroup |
|
139 |
|
|
140 |
int linearize_distance(int value) |
|
141 |
{ |
|
142 |
if(value < MIN_IR_ADC8) |
|
143 |
{ |
|
144 |
return -1; |
|
145 |
} |
|
146 |
else if(value > MAX_IR_ADC8) |
|
147 |
{ |
|
148 |
return -1; |
|
149 |
} |
|
150 |
else |
|
151 |
{ |
|
152 |
return IR_dist_conversion[value - MIN_IR_ADC8]; |
|
153 |
} |
|
154 |
} |
|
155 |
|
|
156 |
|
|
157 |
|
Also available in: Unified diff