FRC - Hackathon / GP2A

Sharp GP2 familly distance sensor library

Dependents:   FRC_2018 0hackton_08_06_18 0hackton_08_06_18_publish Kenya_2019 ... more

GP2A.h@3:dcd04d9d0eb7, 2018-05-22 (annotated)

Committer:
haarkon
Date:
Tue May 22 17:15:37 2018 +0000
Revision:
3:dcd04d9d0eb7
Parent:
2:5e591a5b8edd
Child:
4:4f443a6a6843
added callback treatment of interrupt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
haarkon 0:17de10d278c2 1 /**
haarkon 0:17de10d278c2 2 * @author Hugues Angelis
haarkon 0:17de10d278c2 3 *
haarkon 0:17de10d278c2 4 * @section LICENSE
haarkon 0:17de10d278c2 5 *
haarkon 0:17de10d278c2 6 * Permission is hereby granted, free of charge, to any person obtaining a copy
haarkon 0:17de10d278c2 7 * of this software and associated documentation files (the "Software"), to deal
haarkon 0:17de10d278c2 8 * in the Software without restriction, including without limitation the rights
haarkon 0:17de10d278c2 9 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
haarkon 0:17de10d278c2 10 * copies of the Software, and to permit persons to whom the Software is
haarkon 0:17de10d278c2 11 * furnished to do so, subject to the following conditions:
haarkon 0:17de10d278c2 12 *
haarkon 0:17de10d278c2 13 * The above copyright notice and this permission notice shall be included in
haarkon 0:17de10d278c2 14 * all copies or substantial portions of the Software.
haarkon 0:17de10d278c2 15 *
haarkon 0:17de10d278c2 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
haarkon 0:17de10d278c2 17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
haarkon 0:17de10d278c2 18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
haarkon 0:17de10d278c2 19 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
haarkon 0:17de10d278c2 20 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
haarkon 0:17de10d278c2 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
haarkon 0:17de10d278c2 22 * THE SOFTWARE.
haarkon 0:17de10d278c2 23 *
haarkon 0:17de10d278c2 24 * @section DESCRIPTION
haarkon 0:17de10d278c2 25 *
haarkon 0:17de10d278c2 26 * SHARP GP2 Analog sensor familly library
haarkon 0:17de10d278c2 27 *
haarkon 0:17de10d278c2 28 * Any GP2 analog sensor may be added to this library using the constructor :
haarkon 0:17de10d278c2 29 * minDistance : is the minimum distance for linear approximation (cm)
haarkon 0:17de10d278c2 30 * maxDistance : is the maximum distance for linear approximation (cm)
haarkon 0:17de10d278c2 31 * slope : is the slope of the linear part of the graph V = f(1/d)
haarkon 0:17de10d278c2 32 * take special care that we use the 1/d instead of d for x
haarkon 0:17de10d278c2 33 * axis.
haarkon 1:956ee3b2eaa0 34 * The slope parameter must be computed by user unless the GP2 reference is
haarkon 1:956ee3b2eaa0 35 * listed in the list below :
haarkon 1:956ee3b2eaa0 36 * - GP2Y0A02YK0F (Min = 30cm, Max = 150cm, Slope = 60)
haarkon 1:956ee3b2eaa0 37 * - GP2Y0A21YK0F (Min = 7cm, Max = 80cm, Slope = 20.88)
haarkon 1:956ee3b2eaa0 38 *
haarkon 1:956ee3b2eaa0 39 * You may add others sensors if you wish it
haarkon 0:17de10d278c2 40 *
haarkon 0:17de10d278c2 41 * One must be aware that under the minimum distance the sensor will output
haarkon 0:17de10d278c2 42 * a false value of distance leading to strong errors.
haarkon 1:956ee3b2eaa0 43 * @endsection
haarkon 0:17de10d278c2 44 */
haarkon 0:17de10d278c2 45
haarkon 0:17de10d278c2 46 #ifndef GP2A_H
haarkon 0:17de10d278c2 47 #define GP2A_H
haarkon 0:17de10d278c2 48
haarkon 0:17de10d278c2 49 /**
haarkon 0:17de10d278c2 50 * Slope definitions for common GP2A sensors
haarkon 0:17de10d278c2 51 */
haarkon 0:17de10d278c2 52
haarkon 0:17de10d278c2 53 #define GP2Y0A02YK0F 60.0
haarkon 0:17de10d278c2 54 #define GP2Y0A21YK0F 20.888
haarkon 0:17de10d278c2 55
haarkon 0:17de10d278c2 56 /**
haarkon 3:dcd04d9d0eb7 57 * Includes : Mbed library
haarkon 0:17de10d278c2 58 */
haarkon 0:17de10d278c2 59 #include "mbed.h"
haarkon 0:17de10d278c2 60
haarkon 0:17de10d278c2 61 /**
haarkon 3:dcd04d9d0eb7 62 * GP2A Sensor : See sharp website for more informations
haarkon 3:dcd04d9d0eb7 63 * http://www.sharp-world.com/products/device/lineup/selection/opto/haca/diagram.html
haarkon 0:17de10d278c2 64 */
haarkon 0:17de10d278c2 65 class GP2A {
haarkon 0:17de10d278c2 66
haarkon 0:17de10d278c2 67 public :
haarkon 0:17de10d278c2 68
haarkon 0:17de10d278c2 69 /**
haarkon 3:dcd04d9d0eb7 70 * Constructor of a Sharp GP2 Familly object.
haarkon 0:17de10d278c2 71 *
haarkon 3:dcd04d9d0eb7 72 * @param vmes : the Mbed pin used to connect with GP2A sensor
haarkon 3:dcd04d9d0eb7 73 * @param dMin : the GP2A sensor min distance to mesure
haarkon 3:dcd04d9d0eb7 74 * @param dMax : the GP2A sensor max distance to mesure
haarkon 3:dcd04d9d0eb7 75 * @param slope : the slope of the linear part of the graph V = f(1/d)
haarkon 0:17de10d278c2 76 */
haarkon 0:17de10d278c2 77 GP2A(PinName vmes, float dMin, float dMax, float slope);
haarkon 0:17de10d278c2 78
haarkon 0:17de10d278c2 79 /**
haarkon 3:dcd04d9d0eb7 80 * Return the distance to target mesured by sensor in cm
haarkon 0:17de10d278c2 81 *
haarkon 3:dcd04d9d0eb7 82 * @return Distance in cm
haarkon 0:17de10d278c2 83 */
haarkon 2:5e591a5b8edd 84 double getDistance (void);
haarkon 0:17de10d278c2 85
haarkon 0:17de10d278c2 86 /**
haarkon 3:dcd04d9d0eb7 87 * Return the current voltage on GP2A output
haarkon 0:17de10d278c2 88 *
haarkon 3:dcd04d9d0eb7 89 * @return Voltage between 0 and 3.3V
haarkon 0:17de10d278c2 90 */
haarkon 2:5e591a5b8edd 91 double getVoltage (void);
haarkon 2:5e591a5b8edd 92
haarkon 2:5e591a5b8edd 93 /**
haarkon 2:5e591a5b8edd 94 * A short hand of getDistance
haarkon 2:5e591a5b8edd 95 */
haarkon 2:5e591a5b8edd 96 operator double();
haarkon 2:5e591a5b8edd 97
haarkon 2:5e591a5b8edd 98
haarkon 0:17de10d278c2 99
haarkon 0:17de10d278c2 100 private :
haarkon 0:17de10d278c2 101 float m_dMin, m_dMax, m_slope;
haarkon 0:17de10d278c2 102
haarkon 0:17de10d278c2 103 protected :
haarkon 0:17de10d278c2 104
haarkon 0:17de10d278c2 105 AnalogIn _sensor ;
haarkon 0:17de10d278c2 106
haarkon 0:17de10d278c2 107 };
haarkon 0:17de10d278c2 108 #endif //GP2A_H