FRC - Hackathon
Ultrasonic Range Finder Sensors Library. May be used for SRF05 and all others sensors of the same kind (50ms period, 10us pulse)
Dependents: FRC_2018 TestVMA 0hackton_08_06_18 lib_FRC_2019 ... more
VMA306.h@1:4f394d75bc7f, 2018-05-22 (annotated)
- Committer:
- haarkon
- Date:
- Tue May 22 17:04:02 2018 +0000
- Revision:
- 1:4f394d75bc7f
- Parent:
- 0:bc016581f12b
- Child:
- 3:4d9c742b860b
cosmetic changes
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| haarkon | 0:bc016581f12b | 1 | /** |
| haarkon | 0:bc016581f12b | 2 | * @author Hugues Angelis |
| haarkon | 0:bc016581f12b | 3 | * |
| haarkon | 0:bc016581f12b | 4 | * @section LICENSE |
| haarkon | 0:bc016581f12b | 5 | * |
| haarkon | 0:bc016581f12b | 6 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| haarkon | 0:bc016581f12b | 7 | * of this software and associated documentation files (the "Software"), to deal |
| haarkon | 0:bc016581f12b | 8 | * in the Software without restriction, including without limitation the rights |
| haarkon | 0:bc016581f12b | 9 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| haarkon | 0:bc016581f12b | 10 | * copies of the Software, and to permit persons to whom the Software is |
| haarkon | 0:bc016581f12b | 11 | * furnished to do so, subject to the following conditions: |
| haarkon | 0:bc016581f12b | 12 | * |
| haarkon | 0:bc016581f12b | 13 | * The above copyright notice and this permission notice shall be included in |
| haarkon | 0:bc016581f12b | 14 | * all copies or substantial portions of the Software. |
| haarkon | 0:bc016581f12b | 15 | * |
| haarkon | 0:bc016581f12b | 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| haarkon | 0:bc016581f12b | 17 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| haarkon | 0:bc016581f12b | 18 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| haarkon | 0:bc016581f12b | 19 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| haarkon | 0:bc016581f12b | 20 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| haarkon | 0:bc016581f12b | 21 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| haarkon | 0:bc016581f12b | 22 | * THE SOFTWARE. |
| haarkon | 0:bc016581f12b | 23 | * |
| haarkon | 0:bc016581f12b | 24 | * @section DESCRIPTION |
| haarkon | 0:bc016581f12b | 25 | * |
| haarkon | 0:bc016581f12b | 26 | * Vellerman VMA306 Ultrasonic Range Finder Library |
| haarkon | 0:bc016581f12b | 27 | * |
| haarkon | 0:bc016581f12b | 28 | * @Note : |
| haarkon | 1:4f394d75bc7f | 29 | * The purpose of this library is to adapt SRF05 library to allow full control of the sensor : |
| haarkon | 0:bc016581f12b | 30 | * - allow cycle control (time between 2 pulses) |
| haarkon | 0:bc016581f12b | 31 | * - delayed trigerring (start periodical mesurement with a delay) |
| haarkon | 1:4f394d75bc7f | 32 | * because in case of multiple US sensor use, pulse from a sensor can be detected by another like its own echo and thus interfere with mesurement. |
| haarkon | 0:bc016581f12b | 33 | * |
| haarkon | 0:bc016581f12b | 34 | * Cycle time must be greater or equal to 50ms. |
| haarkon | 0:bc016581f12b | 35 | * After 30ms the sensor times out so 30ms output pulse means no detection |
| haarkon | 0:bc016581f12b | 36 | * |
| haarkon | 1:4f394d75bc7f | 37 | * You may divide the echo pulse width by 58µs/cm to calculate the almost exact distance to the obstacle in centimeters. |
| haarkon | 0:bc016581f12b | 38 | * |
| haarkon | 1:4f394d75bc7f | 39 | * To allow non blocking read you may use the global variable VMA306Flag witch is set to one each time a new mesure is ready. This variable must be cleared by user |
| haarkon | 0:bc016581f12b | 40 | */ |
| haarkon | 0:bc016581f12b | 41 | |
| haarkon | 0:bc016581f12b | 42 | #ifndef _VMA306_H |
| haarkon | 0:bc016581f12b | 43 | #define _VMA306_H |
| haarkon | 0:bc016581f12b | 44 | |
| haarkon | 1:4f394d75bc7f | 45 | /** |
| haarkon | 1:4f394d75bc7f | 46 | * Includes : Mbed Library |
| haarkon | 1:4f394d75bc7f | 47 | */ |
| haarkon | 0:bc016581f12b | 48 | #include "mbed.h" |
| haarkon | 0:bc016581f12b | 49 | |
| haarkon | 1:4f394d75bc7f | 50 | /** |
| haarkon | 1:4f394d75bc7f | 51 | * VMA306 Ultrasonic Range Finder |
| haarkon | 1:4f394d75bc7f | 52 | * similar to SRF05 : https://www.robot-electronics.co.uk/htm/srf05tech.htm |
| haarkon | 1:4f394d75bc7f | 53 | * Poor documentation can be found here (FR) : https://www.gotronic.fr/art-capteur-a-ultrasons-vma306-26096.htm |
| haarkon | 1:4f394d75bc7f | 54 | */ |
| haarkon | 0:bc016581f12b | 55 | class VMA306 { |
| haarkon | 0:bc016581f12b | 56 | public: |
| haarkon | 0:bc016581f12b | 57 | |
| haarkon | 1:4f394d75bc7f | 58 | /** Constructor : Create a VMA306 object, connected to the specified pins |
| haarkon | 0:bc016581f12b | 59 | * |
| haarkon | 1:4f394d75bc7f | 60 | * @param trigger : DigitalOut to the VMA306 trigger |
| haarkon | 1:4f394d75bc7f | 61 | * @param echo : InterruptIn to measure the return pulse |
| haarkon | 0:bc016581f12b | 62 | */ |
| haarkon | 0:bc016581f12b | 63 | VMA306(PinName trigger, PinName echo); |
| haarkon | 0:bc016581f12b | 64 | |
| haarkon | 0:bc016581f12b | 65 | /** Start periodic Trigger |
| haarkon | 0:bc016581f12b | 66 | * |
| haarkon | 1:4f394d75bc7f | 67 | * @param period : float time in second between two trig pulses |
| haarkon | 0:bc016581f12b | 68 | * |
| haarkon | 1:4f394d75bc7f | 69 | * @note This function allows user to start each instance of Ultra Sonic range finder with a delay from the others (delay managment must be done by users). |
| haarkon | 1:4f394d75bc7f | 70 | * @note The first pulse will be send 1 period after. |
| haarkon | 0:bc016581f12b | 71 | */ |
| haarkon | 0:bc016581f12b | 72 | void startPeriodicTrigger (float period = 0.15); |
| haarkon | 0:bc016581f12b | 73 | |
| haarkon | 0:bc016581f12b | 74 | /** Gives indication of a new mesurement |
| haarkon | 0:bc016581f12b | 75 | * |
| haarkon | 0:bc016581f12b | 76 | * @return 1 if new data is ready, else 0 |
| haarkon | 0:bc016581f12b | 77 | */ |
| haarkon | 0:bc016581f12b | 78 | int isDataReady (); |
| haarkon | 0:bc016581f12b | 79 | |
| haarkon | 0:bc016581f12b | 80 | /** A non-blocking function that will return the last measurement |
| haarkon | 0:bc016581f12b | 81 | * |
| haarkon | 0:bc016581f12b | 82 | * @returns floating point representation of distance in cm |
| haarkon | 0:bc016581f12b | 83 | */ |
| haarkon | 0:bc016581f12b | 84 | float read(); |
| haarkon | 0:bc016581f12b | 85 | |
| haarkon | 0:bc016581f12b | 86 | /** A short hand way of using the read function */ |
| haarkon | 0:bc016581f12b | 87 | operator float(); |
| haarkon | 0:bc016581f12b | 88 | |
| haarkon | 0:bc016581f12b | 89 | private : |
| haarkon | 0:bc016581f12b | 90 | DigitalOut _trigger; |
| haarkon | 0:bc016581f12b | 91 | InterruptIn _echo; |
| haarkon | 0:bc016581f12b | 92 | Timer _timer; |
| haarkon | 0:bc016581f12b | 93 | Ticker _ticker; |
| haarkon | 0:bc016581f12b | 94 | void _rising (void); |
| haarkon | 0:bc016581f12b | 95 | void _falling (void); |
| haarkon | 0:bc016581f12b | 96 | void _startRange (void); |
| haarkon | 0:bc016581f12b | 97 | float _dist; |
| haarkon | 0:bc016581f12b | 98 | int _VMA306Flag; |
| haarkon | 0:bc016581f12b | 99 | }; |
| haarkon | 0:bc016581f12b | 100 | |
| haarkon | 0:bc016581f12b | 101 | #endif |
