Diff: SRF08.h

Revision:

0:70df4930eee9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SRF08.h	Tue Aug 11 13:01:45 2015 +0000
@@ -0,0 +1,110 @@
+/*
+Copyright (c) 2012 Brent Dekker
+ 
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+ 
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+ 
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+ 
+#ifndef SRF08_H
+#define SRF08_H
+ 
+#include "mbed.h"
+#include "rtos.h"
+ 
+/**
+ * The SRF08 is an ultrasonic range finder with an I2C interface that allows 
+ * the measurement to be read directly in centimetres. More information can be
+ * found on this website: http://www.robot-electronics.co.uk/htm/srf08tech.shtml
+ */
+class SRF08 {
+ 
+public:
+ 
+    /**
+     * Create a SRF08 object connected to the specified I2C pins and address
+     *
+     * @param SDA I2C SDA pin to connect to
+     * @param SCL I2C SCL pin to connect to
+     * @param i2cAddress Address of WSRF08 on I2C bus
+     */
+    SRF08(PinName SDA, PinName SCL, int i2cAddress);
+    
+    /**
+     * Send the "Start ranging in cm" command via I2C
+     */
+    void startRanging();
+    
+    /**
+     * Checks if the module has finished ranging
+     *
+     * @param returns Boolean stating module is finished or not
+     */
+    bool rangingFinished();
+    
+    /**
+     * Gets the measured range from the module
+     *
+     * @param returns Integer range in centimetre
+     */
+    int getRange();
+    
+    /**
+     * Gets the measured light intensity from the module
+     *
+     * @param returns A normalised number 0-255 representing dark to light
+     */
+     int getLightIntensity();
+     
+    /**
+     * Sets the range register of the SRF08 for faster ranging.
+     * 
+     * The max range is ((rangeVal x 43mm) + 43mm). The sensors maximum range
+     *  is about six metres
+     *
+     * @param rangeVal The value written to the range register of the SRF08
+     */
+    void setRangeRegister(unsigned char rangeVal);
+     
+    /**
+     * Sets the max gain register of the SRF08.
+     * 
+     * @param gainVal The value written to the max gain register of the SRF08
+     */
+    void setMaxGainRegister(unsigned char gainVal);
+    
+    /**
+     * Changes the I2C address of the SRF08.
+     *
+     * The factory default address is 0x0E (224)
+     *  The address can have the following values:
+     *   E0 | E2 | E4 | E6 ... FC | FE
+     * 
+     * @param i2cAddress The new I2C address for the SRF08. 
+     */
+    void setAddress(int i2cAddress);
+     
+protected:
+ 
+    I2C i2cMod;
+    unsigned char i2cAddress;
+    bool rangingBusy;
+    
+    void setRangingFinished();
+};
+ 
+#endif
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