restructuring

embedded/lib/IndSensorMap.hpp

@@ -0,0 +1,46 @@
+#ifndef IND_SENSOR_MAP_HPP
+#define IND_SENSOR_MAP_HPP
+
+#include <stdint.h>
+
+// Inductive Sensor Mapping Struct
+typedef struct IndSensorMap {
+  float A;
+  float K;
+  float B;
+  float C;
+  float v;
+  
+  // Pre-computed constants for faster toMM()
+  float invB;      // 1.0 / B
+  float K_minus_A; // K - A
+} IndSensorMap;
+
+class IndSensor {
+  public:
+    bool oor;
+    float mmVal;
+    uint16_t analog;
+    float alpha; // EMA smoothing factor: 0-1, lower = more smoothing
+
+    // Constructor
+    IndSensor(IndSensorMap calibration, uint8_t analogPin, float emaAlpha = 0.3f);
+    // Read sensor directly from pin and convert to millimeters
+    float readMM();
+
+  private:
+    IndSensorMap consts;
+    uint8_t pin;
+    float filteredRaw;
+
+    // helper function to convert analog reading to millimeters
+    float toMM(uint16_t raw);
+};
+
+// sensor instances
+extern IndSensor indL;
+extern IndSensor indR;
+extern IndSensor indF;
+extern IndSensor indB;
+
+#endif // IND_SENSOR_MAP_HPP