adipu/guadaloop_lev_control
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sensing well - need to debug oor

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This commit is contained in:
Aditya Pulipaka
2025-11-20 17:13:46 -06:00
parent 725df1f1ec
commit f1fea28d73
4 changed files with 41 additions and 8 deletions
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17
lib/IndSensorMap.cpp
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@@ -9,8 +9,11 @@ IndSensorMap ind2Map = {-9.824360913609562, 871.4744633266955, 0.290936623509330
IndSensorMap ind3Map = {-13.8907146886418, 990.6824637304771, 0.16376005385006073, -0.07513804021312243, 0.1772655198934789};
// IndSensor class implementation
IndSensor::IndSensor(IndSensorMap calibration, uint8_t analogPin)
: consts(calibration), pin(analogPin), oor(false) {}
IndSensor::IndSensor(IndSensorMap calibration, uint8_t analogPin, float emaAlpha)
: consts(calibration), pin(analogPin), alpha(emaAlpha), oor(false), filteredRaw(0) {
// Initialize filtered value with first reading
filteredRaw = analogRead(pin);
}
// Convert raw analog reading to millimeters using sensor calibration
float IndSensor::toMM(uint16_t raw) {
@@ -19,8 +22,14 @@ float IndSensor::toMM(uint16_t raw) {
// Read sensor directly from pin and convert to millimeters
float IndSensor::readMM() {
analog = analogRead(pin);
oor = (analog == 0 || analog > 870); // Update out-of-range flag
uint16_t raw = constrain(analogRead(pin), 0, 900);
Serial.println(raw);
// Exponential moving average filter
filteredRaw = alpha * raw + (1.0f - alpha) * filteredRaw;
analog = (uint16_t)filteredRaw;
oor = (analog == 0 || analog > 870);
mmVal = toMM(analog);
return mmVal;
}