File content as of revision 1:a01dc8b52be4:

 
#ifndef LidarLite_H
#define LidarLite_H 
 
#include "mbed.h"

// Default I2C Address of LIDAR-Lite.
//#define LIDARLite_Adr 0x62

// Commands
#define SET_CommandReg       0x00   // Register to write to initiate ranging
#define AcqMode              0x04   // Value to set in control register to initiate ranging

// Read Registers
#define GET_DistanceHBReg    0x0f   // High byte of distance reading data
#define GET_DistanceLBReg    0x10   // Low byte of distance reading data
#define GET_Distance2BReg    0x8f   // Register to get both High and Low bytes of distance reading data in 1 call
#define GET_VelocityReg      0x09   // Velocity measurement data

class LidarLite
{
    public:
        LidarLite(PinName sda, PinName scl);    //Constructor
        int16_t refreshVelocity(char, char);                 //refreshes velocity data from registers of sensor
        int16_t refreshRange(char, char);                    //refreshes range data from registers of sensor
        void configure(int, char);
        int16_t getRange_cm();                  //Read distance in cm from sensor
        int16_t getVelocity_cms();              //Read velocity in cm/s from sensor
        void changeAddress(char, bool, char);
        void changeAddressMultiPwrEn(int, DigitalOut*, char*, char);
        
    private:
        Serial debug;
        I2C i2c_;
        int16_t distance_LL;
        int16_t velocity_LL;
};

#endif /* LidarLite_H */