Revision 322
Copied new analog code into recharging branch.
rangefinder.c | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file rangefinder.c |
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* @brief Rangefinders |
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* |
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* Implementation of functions for rangefinder use. |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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/* |
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Authors: James Kong and Greg Tress |
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NOTE: |
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The Sharp GD2D02 returns values on a decreasing logrithmic scale. |
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So higher values correspond to closer distances. Use linearize_distance to convert to normal centimeter scale. |
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Also, when reading distances closer than 8cm, the Sharp GD2D02 will return lower values than the values at 8cm. |
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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. |
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At this point, we are only reading from one rangefinder [RANGE_IN0]. |
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*/ |
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* |
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* @see range_read_distance |
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**/ |
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void range_init(void){ |
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digital_output(_PIN_B4,0); |
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void range_init(void) |
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{ |
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digital_output(_PIN_B4,0); |
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} |
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/** |
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* |
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* @see range_init |
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**/ |
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int range_read_distance (int range_id) { |
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return linearize_distance(analog8(range_id)); |
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int range_read_distance (int range_id) |
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{ |
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return linearize_distance(analog8(range_id)); |
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} |
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/** @} **/ //end defgroup |
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