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Commit be077705 authored by Orhan-Timo Altan's avatar Orhan-Timo Altan
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parent b8a7bf8d
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...@@ -47,7 +47,8 @@ bits_TimeOfFlightController tof_controller(max_distance); ...@@ -47,7 +47,8 @@ bits_TimeOfFlightController tof_controller(max_distance);
**Zum messen mit den Time of Flight Sensoren wird folgende Methode verwendet:** **Zum messen mit den Time of Flight Sensoren wird folgende Methode verwendet:**
```arduino ```arduino
int value = tof_controller.get_distance(index); int value = tof_controller.get_distance_mm(index);
int value = tof_controller.get_distance_cm(index);
``` ```
- `index`: Time of Flight Sensor Nummer 0-4 - `index`: Time of Flight Sensor Nummer 0-4
......
...@@ -41,7 +41,7 @@ void bits_TimeOfFlightController::init() { ...@@ -41,7 +41,7 @@ void bits_TimeOfFlightController::init() {
} }
} }
int bits_TimeOfFlightController::get_distance(int index) { int bits_TimeOfFlightController::get_distance_cm(int index) {
VL53L0X_RangingMeasurementData_t measure; VL53L0X_RangingMeasurementData_t measure;
sensors[index].psensor->rangingTest(&measure, false); // 'true' um debug Informationen auszugeben sensors[index].psensor->rangingTest(&measure, false); // 'true' um debug Informationen auszugeben
...@@ -55,6 +55,28 @@ int bits_TimeOfFlightController::get_distance(int index) { ...@@ -55,6 +55,28 @@ int bits_TimeOfFlightController::get_distance(int index) {
_println_tof_(distance); _println_tof_(distance);
} }
else else
{
_println_tof_(" Ausserhalb des Messbereichs ");
distance = max_distance/10+1;
}
return distance;
}
int bits_TimeOfFlightController::get_distance_mm(int index) {
VL53L0X_RangingMeasurementData_t measure;
sensors[index].psensor->rangingTest(&measure, false); // 'true' um debug Informationen auszugeben
int distance;
if ((measure.RangeStatus != 4) && (measure.RangeMilliMeter < max_distance))
{
distance = measure.RangeMilliMeter;
_print_tof_(index);
_print_tof_(" Sensor Entfernung (cm): ");
_println_tof_(distance);
}
else
{ {
_println_tof_(" Ausserhalb des Messbereichs "); _println_tof_(" Ausserhalb des Messbereichs ");
distance = max_distance+1; distance = max_distance+1;
......
...@@ -25,7 +25,8 @@ class bits_TimeOfFlightController ...@@ -25,7 +25,8 @@ class bits_TimeOfFlightController
public: public:
bits_TimeOfFlightController(const uint16_t max_distance); bits_TimeOfFlightController(const uint16_t max_distance);
void init(); void init();
int get_distance(int index); int get_distance_cm(int index);
int get_distance_mm(int index);
private: private:
const uint16_t max_distance = 4000; const uint16_t max_distance = 4000;
......
...@@ -14,11 +14,11 @@ void setup() ...@@ -14,11 +14,11 @@ void setup()
void loop() void loop()
{ {
values[0] = tof_controller.get_distance(0); values[0] = tof_controller.get_distance_cm(0);
values[1] = tof_controller.get_distance(1); values[1] = tof_controller.get_distance_cm(1);
values[2] = tof_controller.get_distance(2); values[2] = tof_controller.get_distance_cm(2);
values[3] = tof_controller.get_distance(3); values[3] = tof_controller.get_distance_cm(3);
values[4] = tof_controller.get_distance(4); values[4] = tof_controller.get_distance_cm(4);
Serial.print(values[0]); Serial.print(values[0]);
Serial.print(" cm"); Serial.print(" cm");
......
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