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:
2018-08-27
Revision:
4:7622beb45675
Parent:
3:04330e82af20
Child:
5:eeb0e5bdd8b9

File content as of revision 4:7622beb45675:

#ifndef TFMINI_H
#define TFMINI_H

/**
 * Includes
 */
#include "mbed.h"
#include <vector>

/**
 * Defines
 */
#define TF_SERIAL_BUFFER_SIZE 9
#define TF_HEADER_FIRST_BYTE 0x59
#define TF_HEADER_SECOND_BYTE 0x59
#define TF_DEFAULT_BAUD 115200

/**
 * TFmini(LiDAR snsor)\\
 * sample code is here https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/TFmini_sample/
 */
class TFmini : public RawSerial {
    public :
        TFmini(PinName serialTX, PinName serialRX);

        int getDistance();
        int getStrength();

    private :
        void receiveByte();
        void assembleLoop();
        void assemble();

        Thread thread;
        std::vector<unsigned char> buf;
        
        int distance;
        int strength;
};

#endif