heave control + plotter

embedded/lib/IndSensorLUT.hpp

@@ -0,0 +1,47 @@
+#ifndef IND_SENSOR_LUT_HPP
+#define IND_SENSOR_LUT_HPP
+
+#include <stdint.h>
+
+// Piecewise-linear LUT calibration for an inductive sensor.
+// adcTable is ADC value at mm = mmMin + i*mmStep, monotonically increasing in i.
+typedef struct IndSensorLUT {
+  const uint16_t* adcTable;
+  uint16_t        length;
+  float           mmMin;
+  float           mmStep;
+} IndSensorLUT;
+
+class IndSensorL {
+  public:
+    bool oor;
+    int8_t oorDir;      // -1 = too close (below LUT), +1 = too far (above LUT), 0 = in range
+    float mmVal;
+    uint16_t analog;
+    float alpha;
+
+    IndSensorL(IndSensorLUT calibration, uint8_t analogPin, float emaAlpha = 0.3f);
+    float readMM();
+
+  private:
+    IndSensorLUT cal;
+    uint8_t pin;
+    float filteredRaw;
+
+    float toMM(uint16_t raw);
+};
+
+// Per-sensor LUTs generated from A0Calibration/data (4.0..18.0 mm @ 0.1 mm).
+extern const IndSensorLUT ind0LUTCal;
+extern const IndSensorLUT ind1LUTCal;
+extern const IndSensorLUT ind2LUTCal;
+extern const IndSensorLUT ind5LUTCal;
+
+// Sensor instances — face → pin/LUT mapping defined in IndSensorLUT.cpp.
+// Names shadow IndSensorMap; do not include both headers in the same sketch.
+extern IndSensorL indF;
+extern IndSensorL indB;
+extern IndSensorL indL;
+extern IndSensorL indR;
+
+#endif // IND_SENSOR_LUT_HPP