NagaokaRoboticsClub_mbedTeam / TFmini

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

Dependents:   2018NHK_gakugaku_robo 2018NHK_gaku_ver2 2019NHK_A_sensor

TFmini.h@5:eeb0e5bdd8b9, 2018-08-29 (annotated)

Committer:
UCHITAKE
Date:
Wed Aug 29 09:19:56 2018 +0000
Revision:
5:eeb0e5bdd8b9
Parent:
4:7622beb45675
Child:
6:3651a37efd0e
add checksum

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 4:7622beb45675 4 /**
UCHITAKE 4:7622beb45675 5 * Includes
UCHITAKE 4:7622beb45675 6 */
UCHITAKE 0:fe2031b62770 7 #include "mbed.h"
UCHITAKE 4:7622beb45675 8 #include <vector>
UCHITAKE 0:fe2031b62770 9
UCHITAKE 4:7622beb45675 10 /**
UCHITAKE 4:7622beb45675 11 * Defines
UCHITAKE 4:7622beb45675 12 */
takeuchi 1:12f2bfb3577a 13 #define TF_SERIAL_BUFFER_SIZE 9
takeuchi 1:12f2bfb3577a 14 #define TF_HEADER_FIRST_BYTE 0x59
takeuchi 1:12f2bfb3577a 15 #define TF_HEADER_SECOND_BYTE 0x59
takeuchi 1:12f2bfb3577a 16 #define TF_DEFAULT_BAUD 115200
UCHITAKE 0:fe2031b62770 17
UCHITAKE 4:7622beb45675 18 /**
UCHITAKE 4:7622beb45675 19 * TFmini(LiDAR snsor)\\
UCHITAKE 4:7622beb45675 20 * sample code is here https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/TFmini_sample/
UCHITAKE 4:7622beb45675 21 */
UCHITAKE 0:fe2031b62770 22 class TFmini : public RawSerial {
UCHITAKE 0:fe2031b62770 23 public :
UCHITAKE 0:fe2031b62770 24 TFmini(PinName serialTX, PinName serialRX);
UCHITAKE 0:fe2031b62770 25
UCHITAKE 0:fe2031b62770 26 int getDistance();
UCHITAKE 0:fe2031b62770 27 int getStrength();
UCHITAKE 5:eeb0e5bdd8b9 28 int getSize();
UCHITAKE 0:fe2031b62770 29
UCHITAKE 0:fe2031b62770 30 private :
UCHITAKE 4:7622beb45675 31 void receiveByte();
UCHITAKE 4:7622beb45675 32 void assembleLoop();
UCHITAKE 0:fe2031b62770 33 void assemble();
UCHITAKE 0:fe2031b62770 34
UCHITAKE 4:7622beb45675 35 Thread thread;
UCHITAKE 4:7622beb45675 36 std::vector<unsigned char> buf;
UCHITAKE 0:fe2031b62770 37
UCHITAKE 0:fe2031b62770 38 int distance;
UCHITAKE 0:fe2031b62770 39 int strength;
UCHITAKE 0:fe2031b62770 40 };
UCHITAKE 0:fe2031b62770 41
takeuchi 1:12f2bfb3577a 42 #endif