Bender Robotics / SRF08

srf08 library working with RTOS from BenderII

SRF08.h@0:70df4930eee9, 2015-08-11 (annotated)

Committer:
zatakon
Date:
Tue Aug 11 13:01:45 2015 +0000
Revision:
0:70df4930eee9
???????; ???????; ????????; ???????; ???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zatakon 0:70df4930eee9 1 /*
zatakon 0:70df4930eee9 2 Copyright (c) 2012 Brent Dekker
zatakon 0:70df4930eee9 3
zatakon 0:70df4930eee9 4 Permission is hereby granted, free of charge, to any person obtaining a copy
zatakon 0:70df4930eee9 5 of this software and associated documentation files (the "Software"), to deal
zatakon 0:70df4930eee9 6 in the Software without restriction, including without limitation the rights
zatakon 0:70df4930eee9 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
zatakon 0:70df4930eee9 8 copies of the Software, and to permit persons to whom the Software is
zatakon 0:70df4930eee9 9 furnished to do so, subject to the following conditions:
zatakon 0:70df4930eee9 10
zatakon 0:70df4930eee9 11 The above copyright notice and this permission notice shall be included in
zatakon 0:70df4930eee9 12 all copies or substantial portions of the Software.
zatakon 0:70df4930eee9 13
zatakon 0:70df4930eee9 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
zatakon 0:70df4930eee9 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
zatakon 0:70df4930eee9 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
zatakon 0:70df4930eee9 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
zatakon 0:70df4930eee9 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
zatakon 0:70df4930eee9 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
zatakon 0:70df4930eee9 20 THE SOFTWARE.
zatakon 0:70df4930eee9 21 */
zatakon 0:70df4930eee9 22
zatakon 0:70df4930eee9 23 #ifndef SRF08_H
zatakon 0:70df4930eee9 24 #define SRF08_H
zatakon 0:70df4930eee9 25
zatakon 0:70df4930eee9 26 #include "mbed.h"
zatakon 0:70df4930eee9 27 #include "rtos.h"
zatakon 0:70df4930eee9 28
zatakon 0:70df4930eee9 29 /**
zatakon 0:70df4930eee9 30 * The SRF08 is an ultrasonic range finder with an I2C interface that allows
zatakon 0:70df4930eee9 31 * the measurement to be read directly in centimetres. More information can be
zatakon 0:70df4930eee9 32 * found on this website: http://www.robot-electronics.co.uk/htm/srf08tech.shtml
zatakon 0:70df4930eee9 33 */
zatakon 0:70df4930eee9 34 class SRF08 {
zatakon 0:70df4930eee9 35
zatakon 0:70df4930eee9 36 public:
zatakon 0:70df4930eee9 37
zatakon 0:70df4930eee9 38 /**
zatakon 0:70df4930eee9 39 * Create a SRF08 object connected to the specified I2C pins and address
zatakon 0:70df4930eee9 40 *
zatakon 0:70df4930eee9 41 * @param SDA I2C SDA pin to connect to
zatakon 0:70df4930eee9 42 * @param SCL I2C SCL pin to connect to
zatakon 0:70df4930eee9 43 * @param i2cAddress Address of WSRF08 on I2C bus
zatakon 0:70df4930eee9 44 */
zatakon 0:70df4930eee9 45 SRF08(PinName SDA, PinName SCL, int i2cAddress);
zatakon 0:70df4930eee9 46
zatakon 0:70df4930eee9 47 /**
zatakon 0:70df4930eee9 48 * Send the "Start ranging in cm" command via I2C
zatakon 0:70df4930eee9 49 */
zatakon 0:70df4930eee9 50 void startRanging();
zatakon 0:70df4930eee9 51
zatakon 0:70df4930eee9 52 /**
zatakon 0:70df4930eee9 53 * Checks if the module has finished ranging
zatakon 0:70df4930eee9 54 *
zatakon 0:70df4930eee9 55 * @param returns Boolean stating module is finished or not
zatakon 0:70df4930eee9 56 */
zatakon 0:70df4930eee9 57 bool rangingFinished();
zatakon 0:70df4930eee9 58
zatakon 0:70df4930eee9 59 /**
zatakon 0:70df4930eee9 60 * Gets the measured range from the module
zatakon 0:70df4930eee9 61 *
zatakon 0:70df4930eee9 62 * @param returns Integer range in centimetre
zatakon 0:70df4930eee9 63 */
zatakon 0:70df4930eee9 64 int getRange();
zatakon 0:70df4930eee9 65
zatakon 0:70df4930eee9 66 /**
zatakon 0:70df4930eee9 67 * Gets the measured light intensity from the module
zatakon 0:70df4930eee9 68 *
zatakon 0:70df4930eee9 69 * @param returns A normalised number 0-255 representing dark to light
zatakon 0:70df4930eee9 70 */
zatakon 0:70df4930eee9 71 int getLightIntensity();
zatakon 0:70df4930eee9 72
zatakon 0:70df4930eee9 73 /**
zatakon 0:70df4930eee9 74 * Sets the range register of the SRF08 for faster ranging.
zatakon 0:70df4930eee9 75 *
zatakon 0:70df4930eee9 76 * The max range is ((rangeVal x 43mm) + 43mm). The sensors maximum range
zatakon 0:70df4930eee9 77 * is about six metres
zatakon 0:70df4930eee9 78 *
zatakon 0:70df4930eee9 79 * @param rangeVal The value written to the range register of the SRF08
zatakon 0:70df4930eee9 80 */
zatakon 0:70df4930eee9 81 void setRangeRegister(unsigned char rangeVal);
zatakon 0:70df4930eee9 82
zatakon 0:70df4930eee9 83 /**
zatakon 0:70df4930eee9 84 * Sets the max gain register of the SRF08.
zatakon 0:70df4930eee9 85 *
zatakon 0:70df4930eee9 86 * @param gainVal The value written to the max gain register of the SRF08
zatakon 0:70df4930eee9 87 */
zatakon 0:70df4930eee9 88 void setMaxGainRegister(unsigned char gainVal);
zatakon 0:70df4930eee9 89
zatakon 0:70df4930eee9 90 /**
zatakon 0:70df4930eee9 91 * Changes the I2C address of the SRF08.
zatakon 0:70df4930eee9 92 *
zatakon 0:70df4930eee9 93 * The factory default address is 0x0E (224)
zatakon 0:70df4930eee9 94 * The address can have the following values:
zatakon 0:70df4930eee9 95 * E0 | E2 | E4 | E6 ... FC | FE
zatakon 0:70df4930eee9 96 *
zatakon 0:70df4930eee9 97 * @param i2cAddress The new I2C address for the SRF08.
zatakon 0:70df4930eee9 98 */
zatakon 0:70df4930eee9 99 void setAddress(int i2cAddress);
zatakon 0:70df4930eee9 100
zatakon 0:70df4930eee9 101 protected:
zatakon 0:70df4930eee9 102
zatakon 0:70df4930eee9 103 I2C i2cMod;
zatakon 0:70df4930eee9 104 unsigned char i2cAddress;
zatakon 0:70df4930eee9 105 bool rangingBusy;
zatakon 0:70df4930eee9 106
zatakon 0:70df4930eee9 107 void setRangingFinished();
zatakon 0:70df4930eee9 108 };
zatakon 0:70df4930eee9 109
zatakon 0:70df4930eee9 110 #endif