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
- Committer:
- haarkon
- Date:
- 2018-05-22
- Revision:
- 1:4f394d75bc7f
- Parent:
- 0:bc016581f12b
- Child:
- 3:4d9c742b860b
File content as of revision 1:4f394d75bc7f:
/** * @author Hugues Angelis * * @section LICENSE * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * * @section DESCRIPTION * * Vellerman VMA306 Ultrasonic Range Finder Library * * @Note : * The purpose of this library is to adapt SRF05 library to allow full control of the sensor : * - allow cycle control (time between 2 pulses) * - delayed trigerring (start periodical mesurement with a delay) * 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. * * Cycle time must be greater or equal to 50ms. * After 30ms the sensor times out so 30ms output pulse means no detection * * You may divide the echo pulse width by 58µs/cm to calculate the almost exact distance to the obstacle in centimeters. * * 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 */ #ifndef _VMA306_H #define _VMA306_H /** * Includes : Mbed Library */ #include "mbed.h" /** * VMA306 Ultrasonic Range Finder * similar to SRF05 : https://www.robot-electronics.co.uk/htm/srf05tech.htm * Poor documentation can be found here (FR) : https://www.gotronic.fr/art-capteur-a-ultrasons-vma306-26096.htm */ class VMA306 { public: /** Constructor : Create a VMA306 object, connected to the specified pins * * @param trigger : DigitalOut to the VMA306 trigger * @param echo : InterruptIn to measure the return pulse */ VMA306(PinName trigger, PinName echo); /** Start periodic Trigger * * @param period : float time in second between two trig pulses * * @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). * @note The first pulse will be send 1 period after. */ void startPeriodicTrigger (float period = 0.15); /** Gives indication of a new mesurement * * @return 1 if new data is ready, else 0 */ int isDataReady (); /** A non-blocking function that will return the last measurement * * @returns floating point representation of distance in cm */ float read(); /** A short hand way of using the read function */ operator float(); private : DigitalOut _trigger; InterruptIn _echo; Timer _timer; Ticker _ticker; void _rising (void); void _falling (void); void _startRange (void); float _dist; int _VMA306Flag; }; #endif