Diff: LidarLite.h

Revision:

1:a01dc8b52be4

Parent:

0:8e6304ab38d2

Child:

2:917b2a1835b0

diff -r 8e6304ab38d2 -r a01dc8b52be4 LidarLite.h
--- a/LidarLite.h	Tue Feb 17 12:01:04 2015 +0000
+++ b/LidarLite.h	Tue Jan 26 17:55:00 2016 +0000
@@ -1,20 +1,11 @@
-/*
- *  Library for easy interface of LidarLite with mbed using I2C
- *  
- *  Akash Vibhute   <akash . roboticist [at] gmail . com>
- *  
- *  v0.1, 17/Feb/2015 - First version of library, tested using LPC1768 [powered via mbed 3.3v, no additional pullups on I2C necessary]
- *
- */
  
 #ifndef LidarLite_H
 #define LidarLite_H 
  
-#include <mbed.h>
+#include "mbed.h"
 
 // Default I2C Address of LIDAR-Lite.
-#define LIDARLite_WriteAdr  0xc4    //8-bit slave write address
-#define LIDARLite_ReadAdr   0xc5    //8-bit slave read address
+//#define LIDARLite_Adr 0x62
 
 // Commands
 #define SET_CommandReg       0x00   // Register to write to initiate ranging
@@ -24,22 +15,23 @@
 #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 measutement data
-
+#define GET_VelocityReg      0x09   // Velocity measurement data
 
 class LidarLite
 {
     public:
         LidarLite(PinName sda, PinName scl);    //Constructor
-        void refreshRangeVelocity();            //refreshes range and velocity data from registers of sensor
-        void refreshVelocity();                 //refreshes velocity data from registers of sensor
-        void refreshRange();                    //refreshes range data from registers of sensor
-        
+        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:
-        I2C* i2c_;
+        Serial debug;
+        I2C i2c_;
         int16_t distance_LL;
         int16_t velocity_LL;
 };