Project-K9/Utilities.cpp at master · MLenterman/Project-K9 · GitHub

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#include "Utilities.h"
#include "SensorHelper.h"

CoordSet calcCenterBetweenMeasurementPoints(CoordSet setA, CoordSet setB){
	bool measurementOnX = false;
	bool measurementOnY = false;

	CoordSet centerBetweenPoints;
	centerBetweenPoints.x = 0;
	centerBetweenPoints.y = 0;

	// Find what axis the measurement is on
	// When setA is higher then setB
	if(setA.x >= setB.x){
		// Check if the X is the measurement or position diferrence
		if(setA.x - setB.x >= MAX_DISTANCE_BETWEEN_MEASUREMENTS)
			measurementOnX = true;
		else measurementOnY = true;
	}
	// When setB is higher then setA
	if(setB.x >= setA.x){
		// Check if the X is the measurement or position diferrence
		if(setB.x - setA.x >= MAX_DISTANCE_BETWEEN_MEASUREMENTS)
			measurementOnX = true;
		else measurementOnY = true;
	}

	// Only fill the CoordSet with the center between position difference
	if(measurementOnX){
		if(setA.y > setB.y)
			centerBetweenPoints.y = setA.y + ((setA.y - setB.y) / 2);
		if(setB.y > setA.y)
			centerBetweenPoints.y = setB.y + ((setB.y - setA.y) / 2);
	}
	if(measurementOnY){
		if(setA.x > setB.x)
			centerBetweenPoints.x = setA.x + ((setA.x - setB.x) / 2);
		if(setB.x > setA.x)
			centerBetweenPoints.x = setB.x + ((setB.x - setA.x) / 2);
	}

	return centerBetweenPoints;
}

CoordSet calcCenterBetweenPoints(CoordSet setA, CoordSet setB){
	bool constantOnX = false;
	bool constantOnY = false;

	CoordSet centerBetweenPoints;
	centerBetweenPoints.x = 0;
	centerBetweenPoints.y = 0;

	// Find the constant axis
	if(setA.x >= (setB.x - MAX_SIDEWAYS_DEVIATION) || setA.x <= (setB.x + MAX_SIDEWAYS_DEVIATION))
		constantOnX = true;
	else constantOnY = true;

	if(constantOnX){
		if(setA.y > setB.y)
			centerBetweenPoints.y = setA.y + ((setA.y - setB.y) / 2);
		if(setB.y > setA.y)
			centerBetweenPoints.y = setB.y + ((setB.y - setA.y) / 2);
	}
	if(constantOnY){
		if(setA.x > setB.x)
			centerBetweenPoints.x = setA.x + ((setA.x - setB.x) / 2);
		if(setB.x > setA.x)
			centerBetweenPoints.x = setB.x + ((setB.x - setA.x) / 2);
	}
}

float pingCm(int pin){
	float microSec = ping(pin);

	return (SPEED_OF_SOUND_MODIFIER * microSec) / 2;
}