Diff: ultrasonic.h

Revision:

5:182e800b81f0

Parent:

2:cc1143d36567

Child:

6:c0f8b860f55d

diff -r e0f9c9fb4cf3 -r 182e800b81f0 ultrasonic.h
--- a/ultrasonic.h	Mon Nov 24 20:23:07 2014 +0000
+++ b/ultrasonic.h	Thu Apr 28 02:37:52 2016 +0000
@@ -3,45 +3,81 @@
 
 #include "mbed.h"
 
+/** ultrasonic class.
+ *  Used for HC-SR04 ultrasonic range sensor
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "ultrasonic.h"
+ *
+ * ultrasonic usensor(PA_6, PA_7, 0.1, 0.25, &dist);
+ *
+ * int main() {
+ *  //start mesuring the distance
+ *  usensor.startUpdates();
+ *  while(1){
+ *      usensor.checkDistance();
+ *   }
+ * }
+ * @endcode
+ */
 class ultrasonic
 {
-    public:
-        /**iniates the class with the specified trigger pin, echo pin, update speed and timeout**/
-        ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout);
-        /**iniates the class with the specified trigger pin, echo pin, update speed, timeout and method to call when the distance changes**/
-        ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int));
-        /** returns the last measured distance**/
-        int getCurrentDistance(void);
-        /**pauses measuring the distance**/
-        void pauseUpdates(void);
-        /**starts mesuring the distance**/
-        void startUpdates(void);
-        /**attachs the method to be called when the distances changes**/
-        void attachOnUpdate(void method(int));
-        /**changes the speed at which updates are made**/
-        void changeUpdateSpeed(float updateSpeed);
-        /**gets whether the distance has been changed since the last call of isUpdated() or checkDistance()**/
-        int isUpdated(void);
-        /**gets the speed at which updates are made**/
-        float getUpdateSpeed(void);
-        /**call this as often as possible in your code, eg. at the end of a while(1) loop,
-        and it will check whether the method you have attached needs to be called**/
-        void checkDistance(void);
-    private:
-        DigitalOut _trig;
-        InterruptIn _echo;
-        Timer _t;
-        Timeout _tout;
-        int _distance;
-        float _updateSpeed;
-        int start;
-        int end;
-        volatile int done;
-        void (*_onUpdateMethod)(int);
-        void _startT(void);
-        void _updateDist(void);
-        void _startTrig(void);
-        float _timeout;
-        int d;
+public:
+    /**iniates the class with the specified trigger pin, echo pin, update speed and timeout
+     * @param trigPin The "trigger" pin for the ultrasonic sensor.  This is DigitalOut.
+     * @param echoPin The "echo" pin for the ultrasonic sensor.  This is InterruptIn.
+     * @param updateSpeed How often the ultrasonic sensor pings and listens for a response.
+     * @param timeout How long to wait before giving up on listening for a ping.
+     **/
+    ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout);
+    /**iniates the class with the specified trigger pin, echo pin, update speed, timeout and method to call when the distance changes
+     * @param trigPin The "trigger" pin for the ultrasonic sensor.  This is DigitalOut.
+     * @param echoPin The "echo" pin for the ultrasonic sensor.  This is InterruptIn.
+     * @param updateSpeed How often the ultrasonic sensor pings and listens for a response.
+     * @param timeout How long to wait before giving up on listening for a ping.
+     * @param onUpdate(int) The function to be called when the distance is detected to have changed.
+     **/
+    ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int));
+    /** returns the last measured distance**/
+    int getCurrentDistance(void);
+    /**pauses measuring the distance**/
+    void pauseUpdates(void);
+    /**starts mesuring the distance**/
+    void startUpdates(void);
+    /**attachs the method to be called when the distances changes
+     * @param method(int) The function to be called when the distance is detected to have changed.
+     */
+    void attachOnUpdate(void method(int));
+    /**
+    * Method:
+    * changes the speed at which updates are made
+    * @param updateSpeed how often to update the ultrasonic sensor
+    **/
+    void changeUpdateSpeed(float updateSpeed);
+    /**gets whether the distance has been changed since the last call of isUpdated() or checkDistance()**/
+    int isUpdated(void);
+    /**gets the speed at which updates are made**/
+    float getUpdateSpeed(void);
+    /**call this as often as possible in your code, eg. at the end of a while(1) loop,
+    and it will check whether the method you have attached needs to be called**/
+    void checkDistance(void);
+private:
+    DigitalOut _trig;
+    InterruptIn _echo;
+    Timer _t;
+    Timeout _tout;
+    int _distance;
+    float _updateSpeed;
+    int start;
+    int end;
+    volatile int done;
+    void (*_onUpdateMethod)(int);
+    void _startT(void);
+    void _updateDist(void);
+    void _startTrig(void);
+    float _timeout;
+    int d;
 };
 #endif
\ No newline at end of file