Final Project / Mbed 2 deprecated Remote-Control_PID

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.h

Revision:
0:c4c874d702f9
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Ultrasonic.h	Sat Jun 15 20:39:39 2019 +0000
@@ -0,0 +1,40 @@
+#ifndef MBED_ULTRASONIC_H
+#define MBED_ULTRASONIC_H
+
+#include "mbed.h"
+
+class Ultrasonic
+{
+public:
+    Ultrasonic(PinName trigPin, PinName echoPin, float tick = 0.1, bool repeat = false);
+    ~Ultrasonic();
+
+    void trig();
+    int getDistance(void);
+    int getPulseDuration(void);
+
+    //the ultrasonic sensor will stop after measuring once, use clear to clear the value
+    int getStatus(void);
+    void clearStatus(void);
+
+    void pauseMeasure(void);
+    void setMode(bool mode);
+private:
+    DigitalOut _trig;
+    InterruptIn _echo;
+
+    Timer _timer;
+    Ticker _ticker;
+    float _toVal;
+    bool _repeat;
+
+    int _distance;
+    int _pulseDuration;
+
+    void _startT(void);
+    void _endT(void);
+    void _ticker_cb(void);
+    int _done;
+};
+
+#endif MBED_ULTRASONIC_H
\ No newline at end of file