NagaokaRoboticsClub_mbedTeam / TFmini

TFmini(Micro LiDAR Module) library tested on mbedos5.x

Dependents:   2018NHK_gakugaku_robo 2018NHK_gaku_ver2 2019NHK_A_sensor

TFmini.h@6:3651a37efd0e, 2018-10-06 (annotated)

Committer:
UCHITAKE
Date:
Sat Oct 06 05:01:42 2018 +0000
Revision:
6:3651a37efd0e
Parent:
5:eeb0e5bdd8b9
Child:
7:81f9d1372c45
tiny fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:fe2031b62770 1 #ifndef TFMINI_H
UCHITAKE 0:fe2031b62770 2 #define TFMINI_H
UCHITAKE 0:fe2031b62770 3
UCHITAKE 0:fe2031b62770 4 #include "mbed.h"
UCHITAKE 0:fe2031b62770 5
takeuchi 1:12f2bfb3577a 6 #define TF_SERIAL_BUFFER_SIZE 9
takeuchi 1:12f2bfb3577a 7 #define TF_HEADER_FIRST_BYTE 0x59
takeuchi 1:12f2bfb3577a 8 #define TF_HEADER_SECOND_BYTE 0x59
UCHITAKE 6:3651a37efd0e 9 #define TF_RECEIVE_FREQ 0.01
takeuchi 1:12f2bfb3577a 10 #define TF_DEFAULT_BAUD 115200
UCHITAKE 0:fe2031b62770 11
UCHITAKE 0:fe2031b62770 12 class TFmini : public RawSerial {
UCHITAKE 0:fe2031b62770 13 public :
UCHITAKE 0:fe2031b62770 14 TFmini(PinName serialTX, PinName serialRX);
UCHITAKE 0:fe2031b62770 15
UCHITAKE 0:fe2031b62770 16 int getDistance();
UCHITAKE 0:fe2031b62770 17 int getStrength();
UCHITAKE 0:fe2031b62770 18
UCHITAKE 0:fe2031b62770 19 private :
UCHITAKE 6:3651a37efd0e 20 void readData();
UCHITAKE 0:fe2031b62770 21 void assemble();
UCHITAKE 0:fe2031b62770 22
UCHITAKE 6:3651a37efd0e 23 int incrementCounter(int counter);
UCHITAKE 6:3651a37efd0e 24
UCHITAKE 6:3651a37efd0e 25 int readCounter;
UCHITAKE 6:3651a37efd0e 26 int takeCounter;
UCHITAKE 6:3651a37efd0e 27 Ticker assembleTicker;
UCHITAKE 0:fe2031b62770 28
UCHITAKE 0:fe2031b62770 29 int distance;
UCHITAKE 0:fe2031b62770 30 int strength;
UCHITAKE 6:3651a37efd0e 31
UCHITAKE 6:3651a37efd0e 32 uint8_t *buffer;
UCHITAKE 6:3651a37efd0e 33 uint8_t *data;
UCHITAKE 6:3651a37efd0e 34
UCHITAKE 6:3651a37efd0e 35 bool headerCheck;
UCHITAKE 6:3651a37efd0e 36 int headerPoint;
UCHITAKE 0:fe2031b62770 37 };
UCHITAKE 0:fe2031b62770 38
takeuchi 1:12f2bfb3577a 39 #endif