File content as of revision 12:b562893a1445:

#ifndef ULTRASONIC_H
#define ULTRASONIC_H

#include "mbed.h"

/** Ultrasonic Class
@brief Acknowledgements to EJ Teb
@brief  Library for interfacing with ultrasonic sensor


Example:

@code

#include "mbed.h"
#include "ultrasonic.h"

 void dist(int distance)
{
    printf("Distance changed to %dmm\r\n", distance);

    }


ultrasonic mu(PTD0, PTC12, .1, 1, &dist);    //Set the trigger pin to PTD0 and the echo pin to PTC12
                                        //have updates every .1 seconds and a timeout after 1
                                        //second, and call dist when the distance changes

int main()
{
    mu.startUpdates();//start mesuring the distance
    while(1)
    {
        //Do something else here
        mu.checkDistance();     //call checkDistance() as much as possible, as this is where
                                //the class checks if dist needs to be called.
    }
}


* @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;
};
#endif