Diff: uw.cpp

Revision:

0:f6fa58c56955

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/uw.cpp	Fri Jun 02 14:34:33 2017 +0000
@@ -0,0 +1,42 @@
+#include "uw.h"
+#include "mbed.h"
+
+Uw::Uw(PinName uw)   :   uw_(uw) {
+    dist = 0;
+}
+
+double Uw::get_dist(int rank){
+    double res;  
+    
+    uw_.output();
+    uw_=0;
+    wait_us(10);
+    uw_=1;
+    wait_us(5);
+    uw_=0;
+    
+    uw_.input();    
+    t.start();
+    while(!uw_){
+        t.reset();
+        t.start();
+        }
+    do{
+        res=t.read_us();        
+    }while(uw_);
+    t.reset();
+    t.stop();
+    
+    
+    dist=(res/2)/29.1;  //[cm]=[m/us]/[1/(us*100)]
+    //  =       *343.6  //[cm]=[m/us]*[us*100]
+    
+    switch(rank){
+        case 1:
+        return dist*10;
+        case 2:
+        return dist*0.01;
+        default:
+        return dist;
+    }
+}