NagaokaRoboticsClub_mbedTeam / TFmini

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

Dependents:   2018NHK_gakugaku_robo 2018NHK_gaku_ver2 2019NHK_A_sensor

TFmini.h

Committer:
UCHITAKE
Date:
2018-08-22
Revision:
3:04330e82af20
Parent:
1:12f2bfb3577a
Child:
4:7622beb45675

File content as of revision 3:04330e82af20:

#ifndef TFMINI_H
#define TFMINI_H

#include "mbed.h"

#define TF_SERIAL_BUFFER_SIZE 9
#define TF_HEADER_FIRST_BYTE 0x59
#define TF_HEADER_SECOND_BYTE 0x59
#define TF_RECEIVE_FREQ 0.01
#define TF_DEFAULT_BAUD 115200

class TFmini : public RawSerial {
    public :
        TFmini(PinName serialTX, PinName serialRX);

        int getDistance();
        int getStrength();

    private :
        void readData();
        void assemble();

        int incrementCounter(int counter);

        int readCounter;
        int takeCounter;
        Ticker assembleTicker;
        
        int distance;
        int strength;

        uint8_t *buffer;
        uint8_t *data;

        bool headerCheck;
        int headerPoint;
};

#endif