MBSD_assignment / Ultrasonic

Library to use the ultrasonic sensor

Dependents:   test_ultrasonic AEB Car_Simulator

Ultrasonic.cpp@3:9b06e5793b8b, 2016-06-05 (annotated)

Committer:
AndreaAndreoli
Date:
Sun Jun 05 12:23:48 2016 +0000
Revision:
3:9b06e5793b8b
Parent:
2:12da800fd10a
Child:
4:8c97476a5ebf
created class Ultrasonic (not working);

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AndreaAndreoli 0:72ec72845f71 1 #include "mbed.h"
AndreaAndreoli 0:72ec72845f71 2 #include "Ultrasonic.h"
AndreaAndreoli 0:72ec72845f71 3
AndreaAndreoli 0:72ec72845f71 4
AndreaAndreoli 3:9b06e5793b8b 5 Ultrasonic::Ultrasonic(PinName trigger, PinName echo): _trigger(trigger) , _echo(echo)
AndreaAndreoli 3:9b06e5793b8b 6 {
AndreaAndreoli 3:9b06e5793b8b 7 //_trigger = trigger;
AndreaAndreoli 3:9b06e5793b8b 8 //_echo = echo;
AndreaAndreoli 3:9b06e5793b8b 9 Ultrasonic_init();
AndreaAndreoli 3:9b06e5793b8b 10 }
AndreaAndreoli 3:9b06e5793b8b 11
AndreaAndreoli 3:9b06e5793b8b 12
AndreaAndreoli 0:72ec72845f71 13
AndreaAndreoli 0:72ec72845f71 14 /*
AndreaAndreoli 0:72ec72845f71 15 * Call this function and it will return the distance in centimeter
AndreaAndreoli 0:72ec72845f71 16 */
AndreaAndreoli 3:9b06e5793b8b 17 int Ultrasonic::read_cm()
AndreaAndreoli 0:72ec72845f71 18 {
AndreaAndreoli 0:72ec72845f71 19 return DistanceCM;
AndreaAndreoli 0:72ec72845f71 20 }
AndreaAndreoli 0:72ec72845f71 21
AndreaAndreoli 0:72ec72845f71 22
AndreaAndreoli 3:9b06e5793b8b 23 void Ultrasonic::start()
AndreaAndreoli 0:72ec72845f71 24 {
AndreaAndreoli 0:72ec72845f71 25 timer.start();
AndreaAndreoli 0:72ec72845f71 26 }
AndreaAndreoli 0:72ec72845f71 27
AndreaAndreoli 3:9b06e5793b8b 28 void Ultrasonic::stop()
AndreaAndreoli 0:72ec72845f71 29 {
AndreaAndreoli 0:72ec72845f71 30 DistanceCM = timer.read_us()/58;
AndreaAndreoli 0:72ec72845f71 31 timer.stop();
AndreaAndreoli 0:72ec72845f71 32 //pc.printf("Distance: %f \n", DistanceCM);
AndreaAndreoli 0:72ec72845f71 33 timer.reset();
AndreaAndreoli 1:b3518845e71a 34 timeout.detach();
AndreaAndreoli 0:72ec72845f71 35 }
AndreaAndreoli 0:72ec72845f71 36
AndreaAndreoli 3:9b06e5793b8b 37 void Ultrasonic::trig()
AndreaAndreoli 0:72ec72845f71 38 {
AndreaAndreoli 3:9b06e5793b8b 39 timeout.attach(this, this.timeout_err, 0.05);
AndreaAndreoli 3:9b06e5793b8b 40 _trigger = 1;
AndreaAndreoli 0:72ec72845f71 41 wait_us(10);
AndreaAndreoli 3:9b06e5793b8b 42 _trigger = 0;
AndreaAndreoli 0:72ec72845f71 43 }
AndreaAndreoli 0:72ec72845f71 44
AndreaAndreoli 0:72ec72845f71 45
AndreaAndreoli 3:9b06e5793b8b 46 void Ultrasonic::Ultrasonic_init()
AndreaAndreoli 0:72ec72845f71 47 {
AndreaAndreoli 3:9b06e5793b8b 48 DistanceCM = 0;
AndreaAndreoli 0:72ec72845f71 49 timer.reset();
AndreaAndreoli 3:9b06e5793b8b 50 _echo.rise(&Ultrasonic::start);
AndreaAndreoli 3:9b06e5793b8b 51 _echo.fall(&stop);
AndreaAndreoli 0:72ec72845f71 52 tick.attach(&trig,0.06);
AndreaAndreoli 1:b3518845e71a 53 }
AndreaAndreoli 1:b3518845e71a 54
AndreaAndreoli 3:9b06e5793b8b 55 void Ultrasonic::timeout_err()
AndreaAndreoli 1:b3518845e71a 56 {
AndreaAndreoli 1:b3518845e71a 57 // Timeout elapsed -> there is some problem
AndreaAndreoli 1:b3518845e71a 58 // out the distance to zero to highligth error
AndreaAndreoli 1:b3518845e71a 59
AndreaAndreoli 1:b3518845e71a 60 DistanceCM = 0;
AndreaAndreoli 0:72ec72845f71 61 }