Arduino UNOとGP2Y0A21YK(赤外線距離センサー)で6cmから80cmを求める。


目的
adcのテスト用

どうしてこうなったかは、6-10,10-20,20-80を参考

```c++

void setup() {
  Serial.begin(9600);
}

int sensorValue; //センサーの読み取り値
float Voltage;     //電圧
float ir_length;   //長さ

void loop() {

  sensorValue = analogRead(A0);
  Voltage = (float)sensorValue * ( 5.0 / 1024.0 );
  if (Voltage >= 0 && Voltage <= 0.4)   {Voltage = 0.4;}
  if (Voltage >= 3.12 && Voltage <= 5.0) {Voltage = 3.12;}

 if         (Voltage >= 0.4 && Voltage <= 1.3 ) { //80-20

 ir_length = 1.0/ ( 0.0125 + ( ( Voltage - 0.4) * (0.0375/0.9) ) );

  } else if (Voltage >= 1.3 && Voltage <= 2.3 ) { //20-10

ir_length = 1/ ( 0.05 + ( ( Voltage - 1.3) * 0.05 ) );

  } else if (Voltage >= 2.3 && Voltage <= 2.75)  { //10-8
    
    ir_length = 1.0/ ( 0.1 + ( ( Voltage - 2.3) * (0.025/0.45) ) );
    
  } else if (Voltage >= 2.75 && Voltage <= 2.98) { //8-7
    
    ir_length = 1.0/ ( 0.125 + ( ( Voltage - 2.75) * (0.0179/0.23) ) );
    
  } else if (Voltage >= 2.98 && Voltage <= 3.12) { //7-6
    
    ir_length = 1.0/ ( 0.1429 + ( ( Voltage - 2.98) * (0.0238/0.14) ) );
    
  }
  
  //Serial.println(sensorValue);
  Serial.print("800");
  Serial.print(",");
  Serial.print( ir_length*10 );
  Serial.print(",");  
  Serial.println("0");
  
  delay(10);
}


```

![com_1_a.jpg](https://qiita-image-store.s3.ap-northeast-1.amazonaws.com/0/840352/556387a9-c9eb-b2f5-9763-4cde44ceba89.jpeg)


電圧の計算 +-1mVの誤差

```c++

#include <stdio.h>



int main(void){
    
    int ii;
    int s;
    int u;
  
    
    for(ii = 0;ii <= 1023;ii++) {
        
        s=(ii*5000)/1024;
        
        u=((ii*8)+( (ii*8)/10 )+( (ii*2)/100 ))/10  + (ii*4);
                
        printf("%d \t %d \t %d \n",ii,s,u);

       
    }//ii
    
}//main



```



配列化　参考


```c++

#include <stdio.h>

//80-20
unsigned char qq[]={
80,78,77,76,75,75,74,73,72,71,
70,69,68,68,67,66,65,65,64,63,
63,62,61,61,60,60,59,58,58,57,
57,56,56,55,55,54,54,53,53,52,
52,51,51,50,50,50,49,49,48,48,
47,47,47,46,46,46,45,45,45,44,
44,44,43,43,43,42,42,42,41,41,
41,41,40,40,40,40,39,39,39,38,
38,38,38,37,37,37,37,37,36,36,
36,36,35,35,35,35,35,34,34,34,
34,34,33,33,33,33,33,32,32,32,
32,32,32,31,31,31,31,31,31,30,
30,30,30,30,30,30,29,29,29,29,
29,29,28,28,28,28,28,28,28,28,
27,27,27,27,27,27,27,27,26,26,
26,26,26,26,26,26,25,25,25,25,
25,25,25,25,25,25,24,24,24,24,
24,24,24,24,24,24,23,23,23,23,
23,23,23,23,23,23,22,22,22,22,
22,22,22,22,22,22,22,22,21,21,
21,21,21,21,21,21,21,21,21,21,
21,20,20,20,20,20,20,20,20,20,
20,20,20,20,20,20
};

//20-10
unsigned char pp[]={
200,199,198,197,196,196,195,194,193,193,
192,191,190,190,189,188,187,187,186,185,
185,184,183,183,182,181,181,180,179,179,
178,177,177,176,176,175,174,174,173,173,
172,171,171,170,170,169,168,168,167,167,
166,166,165,165,164,163,163,162,162,161,
161,160,160,159,159,158,158,157,157,156,
156,155,155,154,154,153,153,152,152,151,
151,151,150,150,149,149,148,148,147,147,
147,146,146,145,145,144,144,144,143,143,
142,142,142,141,141,140,140,140,139,139,
138,138,138,137,137,136,136,136,135,135,
135,134,134,134,133,133,132,132,132,131,
131,131,130,130,130,129,129,129,128,128,
128,127,127,127,126,126,126,125,125,125,
125,124,124,124,123,123,123,122,122,122,
121,121,121,121,120,120,120,119,119,119,
119,118,118,118,117,117,117,117,116,116,
116,116,115,115,115,114,114,114,114,113,
113,113,113,112,112,112,112,111,111,111,
111,110,110,110,110,109,109,109,109,108,
108,108,108,107,107,107,107,107,106,106,
106,106,105,105,105,105,105,104,104,104,
104,103,103,103,103,103,102,102,102,102,
102,101,101,101,101,101,100,100,100,100,
100
};

//10-6
unsigned char oo[]={
100,99,98,98,97,97,96,96,95,95,
94,94,93,93,92,92,91,91,90,90,
90,89,89,88,88,87,87,86,86,86,
85,85,84,84,84,83,83,82,82,82,
81,81,81,80,80,80,79,79,78,78,
77,77,76,76,75,75,74,74,74,73,
73,72,72,71,71,71,70,70,69,69,
68,67,66,66,65,64,63,63,62,61,
61,60,60
};

//赤外線距離センサー(GP2Y0A21YK)の電圧から距離を求める。
//Voltage //電圧
int ir_len_i(int Voltage)
{

    int ir_length;   //長さ

    if (Voltage >= 0    && Voltage <= 400 ) {return(800);}
    if (Voltage >= 3120 && Voltage <= 5000) {return(60); }

    if        (Voltage >= 400 && Voltage <= 1300 ) { //80-20
        
	    ir_length = (int)qq[(Voltage-400)>>2];
	    ir_length = ir_length * 10;

    } else if (Voltage >= 1300 && Voltage <= 2300 ) { //20-10

        
        ir_length = (int)pp[(Voltage-1300)>>2];
 

    } else if (Voltage >= 2300 && Voltage <= 3120  ) { //10-6

        ir_length = oo[(Voltage-2300)/10];

    }//end if

    //戻り値
    return(ir_length);

} //ir_le_i


int main(void){
    
    int ii;
    int s;
  
    
    for(ii = 0;ii <= 1023;ii++) {
        
        s=(ii*5000)/1024;
                
        printf("%d \t %d \n",s,ir_len_i(s));

       
    }//ii
    
}//main




```



```


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4672 	 60 
4677 	 60 
4682 	 60 
4687 	 60 
4692 	 60 
4697 	 60 
4702 	 60 
4707 	 60 
4711 	 60 
4716 	 60 
4721 	 60 
4726 	 60 
4731 	 60 
4736 	 60 
4741 	 60 
4746 	 60 
4750 	 60 
4755 	 60 
4760 	 60 
4765 	 60 
4770 	 60 
4775 	 60 
4780 	 60 
4785 	 60 
4790 	 60 
4794 	 60 
4799 	 60 
4804 	 60 
4809 	 60 
4814 	 60 
4819 	 60 
4824 	 60 
4829 	 60 
4833 	 60 
4838 	 60 
4843 	 60 
4848 	 60 
4853 	 60 
4858 	 60 
4863 	 60 
4868 	 60 
4873 	 60 
4877 	 60 
4882 	 60 
4887 	 60 
4892 	 60 
4897 	 60 
4902 	 60 
4907 	 60 
4912 	 60 
4916 	 60 
4921 	 60 
4926 	 60 
4931 	 60 
4936 	 60 
4941 	 60 
4946 	 60 
4951 	 60 
4956 	 60 
4960 	 60 
4965 	 60 
4970 	 60 
4975 	 60 
4980 	 60 
4985 	 60 
4990 	 60 
4995 	 60 


```