adipu/guadaloop_lev_control
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this is for adi to satisfy his desires

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Aditya Pulipaka
2025-11-16 13:50:04 -06:00
parent b9c9845790
commit 4ea9fbcf90
3 changed files with 83 additions and 88 deletions
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22
IndSensorMap.cpp
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@@ -1,4 +1,5 @@
#include "IndSensorMap.hpp"
#include <Arduino.h>
#include <math.h>
// Sensor calibration data
@@ -7,7 +8,24 @@ IndSensorMap ind1Map = {-4.831976283950702, 885.9877001844566, 0.279328461810928
IndSensorMap ind2Map = {-9.824360913609562, 871.4744633266955, 0.2909366235093304, 4.3307594408159495, 0.2822807132259202};
IndSensorMap ind3Map = {-13.891292062248292, 990.6819962477331, 0.16376045588859353, -0.074904004740735, 0.17727132893449118};
// IndSensor class implementation
IndSensor::IndSensor(IndSensorMap calibration, uint8_t analogPin)
: consts(calibration), pin(analogPin), oor(false) {}
// Convert raw analog reading to millimeters using sensor calibration
float indToMM(IndSensorMap ind, unsigned int raw) {
return ind.C - (1.0 / ind.B) * log(pow((ind.K - ind.A) / ((float)raw - ind.A), ind.v) - 1.0);
float IndSensor::toMM(unsigned int raw) {
return consts.C - (1.0 / consts.B) * log(pow((consts.K - consts.A) / ((float)raw - consts.A), consts.v) - 1.0);
}
// Read sensor directly from pin and convert to millimeters
float IndSensor::read() {
unsigned int raw = analogRead(pin);
oor = (raw == 0 || raw > 870); // Update out-of-range flag
return toMM(raw);
}
// Predefined sensor instances
IndSensor indL(ind1Map, A0);
IndSensor indR(ind0Map, A1);
IndSensor indF(ind3Map, A5);
IndSensor indB(ind2Map, A4);