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Merge pull request #10 from DrGFreeman/GP2Y0A51SK0F
Adding GP2Y0A51SK0F sensor model
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‎README.md

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# SharpDistSensor
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A library for the Arduino IDE that helps interface with Sharp analog distance sensors.
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Version 1.3.0
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Version 1.4.0
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[![Build Status](https://travis-ci.org/DrGFreeman/SharpDistSensor.svg?branch=master)](https://travis-ci.org/DrGFreeman/SharpDistSensor)
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By Julien de la Bruère-Terreault (drgfreeman@tuta.io)
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@@ -58,19 +58,33 @@ where _A_ is the analog value read from the sensor. `valMin` and `valMax` define
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Sets the range of analog values for which the polynomial or power fit is valid (`valMin` and `valMax`). Analog values outside this range will be set to the respective min or max values.
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## Pre-defined sensor models
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* `GP2Y0A60SZLF_5V` - GP2Y0A60SZLF Analog Distance Sensor 10-150cm, 5V
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* `GP2Y0A710K0F_5V_DS` - GP2Y0A710K0F Analog Distance Sensor 100-500cm, 5V (data sheet)
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* `GP2Y0A60SZLF_5V`: GP2Y0A60SZLF Analog Distance Sensor 10-150cm, 5V, polynomial fit.
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* `GP2Y0A710K0F_5V_DS`: GP2Y0A710K0F Analog Distance Sensor 100-500cm, 5V (data sheet), polynomial fit.
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* `GP2Y0A51SK0F_5V_DS`: GP2Y0A51SK0F Analog Distance Sensor 2-15cm, 5V (data sheet), power fit.
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#### Polynomial / Power fit coefficients:
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Model | Units | C0/C | C1/P | C2 | C3 | C4 | C5
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------|-------|----|----|----|----|----|----
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**GP2Y0A60SZLF_5V** | mm | 1734 | -9.005 | 2.032E-2 | -2.251E-5 | 1.167E-8 | -2.037E-12
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**GP2Y0A710K0F_5V_DS** | mm | 178506 | -1607.72 | 5.5239 | -8.47601E-3 | 4.87819E-6 |
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**GP2Y0A51SK0F_5V_DS** | mm | 4.03576E+4 | -1.26093 | | | |
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#### Analog values range:
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Model | valMin | valMax
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------|--------|--------
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**GP2Y0A60SZLF_5V** | 30 | 875
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**GP2Y0A710K0F_5V_DS** | 284 | 507
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**GP2Y0A51SK0F_5V_DS** | 70 | 500
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Model | Units | C0 | C1 | C2 | C3 | C4 | C5 | valMin | valMax
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------|-------|----|----|----|----|----|----|--------|--------
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**GP2Y0A60SZLF_5V** | mm | 1734 | -9.005 | 2.032E-2 | -2.251E-5 | 1.167E-8 | -2.037E-12 | 30 | 875
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**GP2Y0A710K0F_5V_DS** | mm | 178506 | -1607.72 | 5.5239 | -8.47601E-3 | 4.87819E-6 | | 284 | 507
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**Important Note:** The analog voltage returned by the sensor is largely dependent of the reflected object size and reflectivity. The distance returned by these pre-defined calibration functions can therefore vary significantly from the real distance depending on the object detected. Where accuracy is required by the application, it is recommended to perform calibration with the object to be detected and use custom calibration fit functions instead.
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This library has been designed so that it is easy to add sensor models. Contributions are therefore welcome. Adding models to the library can be done by either submitting a pull request or providing me the proposed fit function and associated calibration data by email so I can add it myself. Thank you for contributing!
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## Version history
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* 1.4.0 (2018-05-21): Added GP2Y0A51SK0F_5V_DS model.
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* 1.3.0 (2018-05-20): Added SharpDistSensorArray example.
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* 1.2.0 (2017-05-10): Added GP2Y0A710K0F_5V_DS model.
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* 1.1.1 (2017-05-01): Clarified comments and fixed typos in examples, improved README.

‎SharpDistSensor.cpp

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MIT License
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Copyright (c) 2017 Julien de la Bruere-Terreault <drgfreeman@tuta.io>
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Copyright (c) 2018 Julien de la Bruere-Terreault <drgfreeman@tuta.io>
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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setPolyFitCoeffs(5, coeffs, 284, 507);
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break;
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}
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case GP2Y0A51SK0F_5V_DS:
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{
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// Set coefficients and range for Sharp GP2Y0A51SK0F 5V
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setPowerFitCoeffs(4.03576E+4, -1.26093, 70, 500);
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break;
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}
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}
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}
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‎SharpDistSensor.h

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/*
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SharpDistSensor.h
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Source: https://github.com/DrGFreeman/SharpDistSensor
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MIT License
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Copyright (c) 2017 Julien de la Bruere-Terreault <drgfreeman@tuta.io>
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
15-
16-
The above copyright notice and this permission notice shall be included in all
17-
copies or substantial portions of the Software.
18-
19-
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22-
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
25-
SOFTWARE.
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*/
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28-
/*
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SharpDistSensor; Sharp analog distance sensor library
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31-
This is a library for the Arduino IDE that helps interface with Sharp IR analog
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distance sensors.
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The analog value from the sensor is converted to distance using either a fifth
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order polynomial fit function or a power fit function.
36-
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By default, this library is set to use polynomial coefficients calibrated for
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the Sharp GP2Y0A60SZLF Analog Distance Sensor 10-150cm 5V, over a range of
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50-1500 mm (analog values 30-875). The returned distance is in millimeters (mm)
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units. For different accuracy, range, sensor model or units, different
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coefficients may be required.
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Use the setModel method to change the sensor model calibration. The following
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models are currently supported:
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-GP2Y0A60SZLF_5V (GP2Y0A60SZLF Analog Distance Sensor 10-150cm, 5V)
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-GP2Y0A710K0F_5V_DS (GP2Y0A710K0F Analog Distance Sensor 100-500cm, 5V)
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Use the setPolyFitCoeffs method to define custom polynomial coefficients.
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Use the setPowerFitCoeffs method to define custom power coefficients.
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Use the setValMinMax method to define different analog values range.
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The distance output is filtered using median filtering. MedianFilter class from
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the following library is used: https://github.com/daPhoosa/MedianFilter.
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*/
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#ifndef SharpDistSensor_h
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#define SharpDistSensor_h
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#include <Arduino.h>
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#include <MedianFilter.h>
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class SharpDistSensor
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{
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public:
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// List of pre-defined sensor models
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enum models
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{
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// Constant for GP2Y0A60SZLF 5V model
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GP2Y0A60SZLF_5V,
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// Constant for GP2Y0A710K0F 5V model
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GP2Y0A710K0F_5V_DS
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};
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/** Constructor
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pin: Arduino analog pin the sensor is connected to
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size: Window size of the median filter (1 = no filtering)
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**/
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SharpDistSensor(const byte pin, const byte size = 1);
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// Return the measured distance
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uint16_t getDist();
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// Set the sensor model
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void setModel(const models model);
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/* Set the polynomial fit function coefficients and range
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nbCoeffs: Number of coefficients (1 min, 6 max)
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coeffs: Coefficients (x^0 to x^5)
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valMin: Minimal analog value for which to return a distance
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valMax: Maximal analog value for which to return a distance
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*/
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void setPolyFitCoeffs(const byte nbCoeffs, const float* coeffs,
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const uint16_t valMin, const uint16_t valMax);
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/* Set the power fit function coefficients and range
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C and P: Coefficients in Distance = C*x^P relation
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valMin: Minimal analog value for which to return a distance
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valMax: Maximal analog value for which to return a distance
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*/
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void setPowerFitCoeffs(const float C, const float P,
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const uint16_t valMin, const uint16_t valMax);
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// Set the analog value range for which to return a distance
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void setValMinMax(const uint16_t valMin, const uint16_t valMax);
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private:
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// Arduino analog pin the sensor is connected to
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byte _pin;
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// Window size of the median filter (1 = no filtering)
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byte _mfSize;
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// Minimal analog value for which to return a distance
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uint16_t _valMin;
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// Maximal analog value for which to return a distance
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uint16_t _valMax;
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// Polynomial function coefficients to convert analog signal to distance
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float _polyCoeffs[6];
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// Power function coefficients to convert analog signal to distance
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float _powerCoeffC;
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float _powerCoeffP;
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// Possible types of fit functions
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enum fitTypes
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{
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FIT_POLY,
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FIT_POWER
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};
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// Fit function type used
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fitTypes _fitType;
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// Median filter object instance
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MedianFilter medFilt;
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};
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#endif
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/*
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SharpDistSensor.h
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Source: https://github.com/DrGFreeman/SharpDistSensor
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5+
MIT License
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Copyright (c) 2018 Julien de la Bruere-Terreault <drgfreeman@tuta.io>
8+
9+
Permission is hereby granted, free of charge, to any person obtaining a copy
10+
of this software and associated documentation files (the "Software"), to deal
11+
in the Software without restriction, including without limitation the rights
12+
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13+
copies of the Software, and to permit persons to whom the Software is
14+
furnished to do so, subject to the following conditions:
15+
16+
The above copyright notice and this permission notice shall be included in all
17+
copies or substantial portions of the Software.
18+
19+
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20+
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21+
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22+
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23+
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24+
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
25+
SOFTWARE.
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*/
27+
28+
/*
29+
SharpDistSensor; Sharp analog distance sensor library
30+
31+
This is a library for the Arduino IDE that helps interface with Sharp IR analog
32+
distance sensors.
33+
34+
The analog value from the sensor is converted to distance using either a fifth
35+
order polynomial fit function or a power fit function.
36+
37+
By default, this library is set to use polynomial coefficients calibrated for
38+
the Sharp GP2Y0A60SZLF Analog Distance Sensor 10-150cm 5V, over a range of
39+
50-1500 mm (analog values 30-875). The returned distance is in millimeters (mm)
40+
units. For different accuracy, range, sensor model or units, different
41+
coefficients may be required.
42+
43+
Use the setModel method to change the sensor model calibration. The following
44+
models are currently supported:
45+
-GP2Y0A60SZLF_5V (GP2Y0A60SZLF Analog Distance Sensor 10-150cm, 5V)
46+
-GP2Y0A710K0F_5V_DS (GP2Y0A710K0F Analog Distance Sensor 100-500cm, 5V)
47+
48+
Use the setPolyFitCoeffs method to define custom polynomial coefficients.
49+
50+
Use the setPowerFitCoeffs method to define custom power coefficients.
51+
52+
Use the setValMinMax method to define different analog values range.
53+
54+
The distance output is filtered using median filtering. MedianFilter class from
55+
the following library is used: https://github.com/daPhoosa/MedianFilter.
56+
*/
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58+
#ifndef SharpDistSensor_h
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#define SharpDistSensor_h
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61+
#include <Arduino.h>
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#include <MedianFilter.h>
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class SharpDistSensor
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{
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public:
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// List of pre-defined sensor models
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enum models
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{
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// Constant for GP2Y0A60SZLF 5V model
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GP2Y0A60SZLF_5V,
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// Constant for GP2Y0A710K0F 5V model
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GP2Y0A710K0F_5V_DS,
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// Constant for GP2Y0A51SK0F 5V model
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GP2Y0A51SK0F_5V_DS,
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};
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/** Constructor
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pin: Arduino analog pin the sensor is connected to
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size: Window size of the median filter (1 = no filtering)
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**/
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SharpDistSensor(const byte pin, const byte size = 1);
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// Return the measured distance
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uint16_t getDist();
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// Set the sensor model
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void setModel(const models model);
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/* Set the polynomial fit function coefficients and range
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nbCoeffs: Number of coefficients (1 min, 6 max)
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coeffs: Coefficients (x^0 to x^5)
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valMin: Minimal analog value for which to return a distance
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valMax: Maximal analog value for which to return a distance
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*/
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void setPolyFitCoeffs(const byte nbCoeffs, const float* coeffs,
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const uint16_t valMin, const uint16_t valMax);
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/* Set the power fit function coefficients and range
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C and P: Coefficients in Distance = C*x^P relation
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valMin: Minimal analog value for which to return a distance
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valMax: Maximal analog value for which to return a distance
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*/
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void setPowerFitCoeffs(const float C, const float P,
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const uint16_t valMin, const uint16_t valMax);
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// Set the analog value range for which to return a distance
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void setValMinMax(const uint16_t valMin, const uint16_t valMax);
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private:
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// Arduino analog pin the sensor is connected to
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byte _pin;
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// Window size of the median filter (1 = no filtering)
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byte _mfSize;
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// Minimal analog value for which to return a distance
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uint16_t _valMin;
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// Maximal analog value for which to return a distance
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uint16_t _valMax;
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// Polynomial function coefficients to convert analog signal to distance
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float _polyCoeffs[6];
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// Power function coefficients to convert analog signal to distance
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float _powerCoeffC;
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float _powerCoeffP;
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// Possible types of fit functions
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enum fitTypes
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{
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FIT_POLY,
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FIT_POWER
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};
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// Fit function type used
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fitTypes _fitType;
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// Median filter object instance
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MedianFilter medFilt;
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};
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#endif

‎library.properties

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name=SharpDistSensor
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version=1.3.0
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version=1.4.0
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author=Julien de la Bruere-Terreault, drgfreeman@tuta.io
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maintainer=Julien de la Bruere-Terreault, drgfreeman@tuta.io
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sentence=Sharp analog distance sensor library

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