CatPot 2015-2016 / IRM2121_2

DigitalIn，Timer　を使用した　ボール検知用ライブラリ

Dependents:   CatPot_SensorRight_F CatPot_SensorRight_T

IRM2121.cpp

Committer:
ryuna
Date:
2015-02-26
Revision:
0:bb38fe5771fb

File content as of revision 0:bb38fe5771fb:

/* mbed Ping Library respected Library !!
 *
 * make interruptin_mod by bousiya03
 * 
 */


#include "IRM2121.h"
#include "mbed.h"

IRM2121::IRM2121(PinName IRM_PIN)
        : _pin(IRM_PIN), _timer()
{          

} 
        
unsigned int IRM2121::Read(void)
// 0 means not valid.
{
    
     
    _timer.reset();
    _timer.start();
    
    while(_pin){
     if(_timer.read_us() > NAKATA){
        _timer.stop();
        return NOT_F;
     }  
    }
    
    _timer.reset();
    
    while(!_pin){
     if(_timer.read_us() > NAKATA){
        _timer.stop();
        return NOT_F;
     }   
    }
    _Time = _timer.read_us();
    while(_pin){
      if((_timer.read_us() -_Time) > NAKATA){
        _timer.stop();
        return NOT_F;
      }  
    }
    
    _Time = _timer.read_us() - _Time;
    _timer.stop();
    return _Time;
}