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Resit Target Localisation Ciaran Kane 18689005
Dependencies: mbed
Ultrasonic/ultrasonic.cpp@7:acf82069b794, 23 months ago (annotated)
- Committer:
- ciarankane123
- Date:
- Thu Aug 25 13:50:39 2022 +0000
- Revision:
- 7:acf82069b794
- Parent:
- 0:479e94f82332
Final Code;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ciarankane123 | 0:479e94f82332 | 1 | #include "ultrasonic.h" |
ciarankane123 | 0:479e94f82332 | 2 | |
ciarankane123 | 0:479e94f82332 | 3 | ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout):_trig(trigPin), _echo(echoPin) |
ciarankane123 | 0:479e94f82332 | 4 | { |
ciarankane123 | 0:479e94f82332 | 5 | _updateSpeed = updateSpeed; |
ciarankane123 | 0:479e94f82332 | 6 | _timeout = timeout; |
ciarankane123 | 0:479e94f82332 | 7 | } |
ciarankane123 | 0:479e94f82332 | 8 | |
ciarankane123 | 0:479e94f82332 | 9 | ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int)) |
ciarankane123 | 0:479e94f82332 | 10 | :_trig(trigPin), _echo(echoPin) |
ciarankane123 | 0:479e94f82332 | 11 | { |
ciarankane123 | 0:479e94f82332 | 12 | _onUpdateMethod=onUpdate; |
ciarankane123 | 0:479e94f82332 | 13 | _updateSpeed = updateSpeed; |
ciarankane123 | 0:479e94f82332 | 14 | _timeout = timeout; |
ciarankane123 | 0:479e94f82332 | 15 | _t.start (); |
ciarankane123 | 0:479e94f82332 | 16 | } |
ciarankane123 | 0:479e94f82332 | 17 | void ultrasonic::_startT() |
ciarankane123 | 0:479e94f82332 | 18 | { |
ciarankane123 | 0:479e94f82332 | 19 | if(_t.read()>600) |
ciarankane123 | 0:479e94f82332 | 20 | { |
ciarankane123 | 0:479e94f82332 | 21 | _t.reset (); |
ciarankane123 | 0:479e94f82332 | 22 | } |
ciarankane123 | 0:479e94f82332 | 23 | start = _t.read_us (); |
ciarankane123 | 0:479e94f82332 | 24 | } |
ciarankane123 | 0:479e94f82332 | 25 | |
ciarankane123 | 0:479e94f82332 | 26 | void ultrasonic::_updateDist() |
ciarankane123 | 0:479e94f82332 | 27 | { |
ciarankane123 | 0:479e94f82332 | 28 | end = _t.read_us (); |
ciarankane123 | 0:479e94f82332 | 29 | done = 1; |
ciarankane123 | 0:479e94f82332 | 30 | _distance = (end - start)/6; |
ciarankane123 | 0:479e94f82332 | 31 | _tout.detach(); |
ciarankane123 | 0:479e94f82332 | 32 | _tout.attach(this,&ultrasonic::_startTrig, _updateSpeed); |
ciarankane123 | 0:479e94f82332 | 33 | } |
ciarankane123 | 0:479e94f82332 | 34 | void ultrasonic::_startTrig(void) |
ciarankane123 | 0:479e94f82332 | 35 | { |
ciarankane123 | 0:479e94f82332 | 36 | _tout.detach(); |
ciarankane123 | 0:479e94f82332 | 37 | _trig=1; |
ciarankane123 | 0:479e94f82332 | 38 | wait_us(10); |
ciarankane123 | 0:479e94f82332 | 39 | done = 0; |
ciarankane123 | 0:479e94f82332 | 40 | _echo.rise(this,&ultrasonic::_startT); |
ciarankane123 | 0:479e94f82332 | 41 | _echo.fall(this,&ultrasonic::_updateDist); |
ciarankane123 | 0:479e94f82332 | 42 | _echo.enable_irq (); |
ciarankane123 | 0:479e94f82332 | 43 | _tout.attach(this,&ultrasonic::_startTrig,_timeout); |
ciarankane123 | 0:479e94f82332 | 44 | _trig=0; |
ciarankane123 | 0:479e94f82332 | 45 | } |
ciarankane123 | 0:479e94f82332 | 46 | |
ciarankane123 | 0:479e94f82332 | 47 | int ultrasonic::getCurrentDistance(void) |
ciarankane123 | 0:479e94f82332 | 48 | { |
ciarankane123 | 0:479e94f82332 | 49 | return _distance; |
ciarankane123 | 0:479e94f82332 | 50 | } |
ciarankane123 | 0:479e94f82332 | 51 | void ultrasonic::pauseUpdates(void) |
ciarankane123 | 0:479e94f82332 | 52 | { |
ciarankane123 | 0:479e94f82332 | 53 | _tout.detach(); |
ciarankane123 | 0:479e94f82332 | 54 | _echo.rise(NULL); |
ciarankane123 | 0:479e94f82332 | 55 | _echo.fall(NULL); |
ciarankane123 | 0:479e94f82332 | 56 | } |
ciarankane123 | 0:479e94f82332 | 57 | void ultrasonic::startUpdates(void) |
ciarankane123 | 0:479e94f82332 | 58 | { |
ciarankane123 | 0:479e94f82332 | 59 | _startTrig(); |
ciarankane123 | 0:479e94f82332 | 60 | } |
ciarankane123 | 0:479e94f82332 | 61 | void ultrasonic::attachOnUpdate(void method(int)) |
ciarankane123 | 0:479e94f82332 | 62 | { |
ciarankane123 | 0:479e94f82332 | 63 | _onUpdateMethod = method; |
ciarankane123 | 0:479e94f82332 | 64 | } |
ciarankane123 | 0:479e94f82332 | 65 | void ultrasonic::changeUpdateSpeed(float updateSpeed) |
ciarankane123 | 0:479e94f82332 | 66 | { |
ciarankane123 | 0:479e94f82332 | 67 | _updateSpeed = updateSpeed; |
ciarankane123 | 0:479e94f82332 | 68 | } |
ciarankane123 | 0:479e94f82332 | 69 | float ultrasonic::getUpdateSpeed() |
ciarankane123 | 0:479e94f82332 | 70 | { |
ciarankane123 | 0:479e94f82332 | 71 | return _updateSpeed; |
ciarankane123 | 0:479e94f82332 | 72 | } |
ciarankane123 | 0:479e94f82332 | 73 | int ultrasonic::isUpdated(void) |
ciarankane123 | 0:479e94f82332 | 74 | { |
ciarankane123 | 0:479e94f82332 | 75 | //printf("%d", done); |
ciarankane123 | 0:479e94f82332 | 76 | d=done; |
ciarankane123 | 0:479e94f82332 | 77 | done = 0; |
ciarankane123 | 0:479e94f82332 | 78 | return d; |
ciarankane123 | 0:479e94f82332 | 79 | } |
ciarankane123 | 0:479e94f82332 | 80 | void ultrasonic::checkDistance(void) |
ciarankane123 | 0:479e94f82332 | 81 | { |
ciarankane123 | 0:479e94f82332 | 82 | if(isUpdated()) |
ciarankane123 | 0:479e94f82332 | 83 | { |
ciarankane123 | 0:479e94f82332 | 84 | (*_onUpdateMethod)(_distance); |
ciarankane123 | 0:479e94f82332 | 85 | } |
ciarankane123 | 0:479e94f82332 | 86 | } |