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