Merge pull request #4 from 1411vi14/master

Added alternative readSwitchesX3 method

keywords.txt

@@ -15,6 +15,7 @@ Asuro	KEYWORD1
 Init	KEYWORD2
 readBattery	KEYWORD2
 readSwitches	KEYWORD2
+readSwitchesX3	KEYWORD2
 setSwitchFactor	KEYWORD2
 getSwitchFactor	KEYWORD2
 readOdometry	KEYWORD2

src/Asuro.cpp

@@ -285,6 +285,26 @@ int Asuro::readSwitches(void)
     return ((10240000L/tmp-10000L)*_switchFactor+5000L)/10000;
 }
 
+/*
+     Read out switches
+     x^3 Interpolation
+     returns bit field of switch value bit0 = K6, ... , bit5 = K1
+*/
+int Asuro::readSwitchesX3(void)
+{
+    long tmp;
+    pinMode(3, OUTPUT);
+    digitalWrite(3, HIGH);
+    delayMicroseconds(10);
+    tmp = analogRead(switches);	// 0..1023
+    digitalWrite(3, LOW);
+    //-0,1+0,5
+    double x = tmp;
+    int sw = fmax( -2.28599856254619E-07*x*x*x + 0.000682617808856135*x*x - 0.752374263864664*x + 299.852039530042, 0);
+
+    return sw;
+}
+
 
 /*
      Returns the battery voltage

src/Asuro.h

@@ -65,11 +65,11 @@ class Asuro {
      */
     void setSwitchFactor(long switchFactor);
 
-	/*
+    /*
      Get the calculation factor for the switches bit field.
      Standard value is 62 (decimal). 
-	*/
-	long Asuro::getSwitchFactor(void);
+    */
+    long getSwitchFactor(void);
 
     /*
      Initializes the hardware (ports, ADC, PWM)
@@ -113,6 +113,13 @@ class Asuro {
      */
     void setFrontLED(unsigned char status);
 
+    /*
+     Read out switches
+     Interpolated x^3
+     returns bit field of switch value bit0 = K6, ... , bit5 = K1
+     */
+    int readSwitchesX3(void);
+
     /*
      Read out switches