Final Project
나중에 급하게 PID 알고리즘을 적용해 짜본 코드... 시간이 충분치 않아서 그냥 원래 있던 코드를 수정해서 하기로 했기에 버려진 코드지만, 교수님께 참고용으로 Publish를 했다.
Dependencies: mbed Adafruit_GFX
Diff: Ultrasonic.cpp
- Revision:
- 0:c4c874d702f9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Ultrasonic.cpp Sat Jun 15 20:39:39 2019 +0000
@@ -0,0 +1,70 @@
+#include "Ultrasonic.h"
+
+Ultrasonic::Ultrasonic(PinName trigPin, PinName echoPin, float tick, bool repeat)
+ : _trig(trigPin), _echo(echoPin), _toVal(tick), _repeat(repeat)
+{
+ _done = 0;
+ _timer.reset();
+ _echo.rise(this, &Ultrasonic::_startT);
+ _echo.fall(this, &Ultrasonic::_endT);
+ if (_repeat) _ticker.attach(this, &Ultrasonic::_ticker_cb, _toVal);
+}
+
+Ultrasonic::~Ultrasonic() {}
+
+void Ultrasonic::_startT(void)
+{
+ _timer.start();
+}
+void Ultrasonic::_endT(void)
+{
+ _timer.stop();
+ _pulseDuration = _timer.read_us();
+ _distance = _pulseDuration / 58;
+ _timer.reset();
+ _done = 1;
+}
+
+
+void Ultrasonic::trig()
+{
+ _echo.enable_irq();
+ wait_us(2);
+ _trig = 1;
+ wait_us(10);
+ _trig = 0;
+}
+void Ultrasonic::_ticker_cb(void)
+{
+ this->trig();
+}
+
+int Ultrasonic::getDistance(void)
+{
+ return _distance;
+}
+int Ultrasonic::getPulseDuration(void)
+{
+ return _pulseDuration;
+}
+
+void Ultrasonic::pauseMeasure(void)
+{
+ _repeat = false;
+ _ticker.detach();
+}
+void Ultrasonic::setMode(bool mode)
+{
+ _repeat = mode;
+ if (_repeat) _ticker.attach(this, &Ultrasonic::_ticker_cb, _toVal);
+ else _ticker.detach();
+}
+
+int Ultrasonic::getStatus()
+{
+ return _done;
+}
+void Ultrasonic::clearStatus(void)
+{
+ _done = 0;
+}
\ No newline at end of file