altb_pmic / Mbed OS IndNav_QK3_T265

branch for tests with T265

Dependencies:   Lib_Cntrl AHRS Lib_Misc

Xtra_Sensors/RangeFinder.h@4:dc844fde64d7, 2019-11-22 (annotated)

Committer:
Kiwicjam
Date:
Fri Nov 22 08:40:26 2019 +0000
Revision:
4:dc844fde64d7
Parent:
2:e7874762cc25 
Workin set, not running,

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 2:e7874762cc25 1 /* Copyright (c) 2012 Nick Ryder, University of Oxford
altb2 2:e7874762cc25 2 * nick.ryder@physics.ox.ac.uk
altb2 2:e7874762cc25 3 *
altb2 2:e7874762cc25 4 * MIT License
altb2 2:e7874762cc25 5 *
altb2 2:e7874762cc25 6 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
altb2 2:e7874762cc25 7 * and associated documentation files (the "Software"), to deal in the Software without restriction,
altb2 2:e7874762cc25 8 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
altb2 2:e7874762cc25 9 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
altb2 2:e7874762cc25 10 * furnished to do so, subject to the following conditions:
altb2 2:e7874762cc25 11 *
altb2 2:e7874762cc25 12 * The above copyright notice and this permission notice shall be included in all copies or
altb2 2:e7874762cc25 13 * substantial portions of the Software.
altb2 2:e7874762cc25 14 *
altb2 2:e7874762cc25 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
altb2 2:e7874762cc25 16 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
altb2 2:e7874762cc25 17 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
altb2 2:e7874762cc25 18 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
altb2 2:e7874762cc25 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
altb2 2:e7874762cc25 20 */
altb2 2:e7874762cc25 21
altb2 2:e7874762cc25 22 #ifndef MBED_RANGEFINDER_H
altb2 2:e7874762cc25 23 #define MBED_RANGEFINDER_H
altb2 2:e7874762cc25 24
altb2 2:e7874762cc25 25 #include "Pulse.h"
altb2 2:e7874762cc25 26
altb2 2:e7874762cc25 27 /** Range Finder class
altb2 2:e7874762cc25 28 */
altb2 2:e7874762cc25 29
altb2 2:e7874762cc25 30 class RangeFinder {
altb2 2:e7874762cc25 31 public:
altb2 2:e7874762cc25 32 /** Create a RangeFinder object
altb2 2:e7874762cc25 33 * @param pin Digital I/O pin the range finder is connected to.
altb2 2:e7874762cc25 34 * @param pulsetime Time of pulse to send to the rangefinder to trigger a measurement, in microseconds.
altb2 2:e7874762cc25 35 * @param scale Scaling of the range finder's output pulse from microseconds to meters.
altb2 2:e7874762cc25 36 * @param offset Offset of the range finder's output pulse to adjust absolut reference.
altb2 2:e7874762cc25 37 * @param timeout Time to wait for a pulse from the range finder before giving up.
altb2 2:e7874762cc25 38 * y = x/scale + offset
altb2 2:e7874762cc25 39 */
altb2 2:e7874762cc25 40 RangeFinder(PinName pin0, int pulsetime, float scale, float offset, int time); // 1 Sensor
altb2 2:e7874762cc25 41 RangeFinder(PinName pin0,PinName pin1, int pulsetime, float scale, float offset, int time); // 2 Sensors
altb2 2:e7874762cc25 42 RangeFinder(PinName pin0,PinName pin1,PinName pin2, int pulsetime, float scale, float offset, int time); // 3 Sensors
altb2 2:e7874762cc25 43 RangeFinder(PinName pin0,PinName pin1,PinName pin2,PinName pin3, int pulsetime, float scale, float offset, int time); // 4 Sensors
altb2 2:e7874762cc25 44 ~RangeFinder();
altb2 2:e7874762cc25 45 /** Return the distance to the nearest object, or -1.0 if reading the pulse timed out.
altb2 2:e7874762cc25 46 */
altb2 2:e7874762cc25 47 float read_m(uint8_t);
altb2 2:e7874762cc25 48 void read_and_filter(uint8_t);
altb2 2:e7874762cc25 49 float operator()(uint8_t i) {
altb2 2:e7874762cc25 50 return read_m(i);
altb2 2:e7874762cc25 51 }
altb2 2:e7874762cc25 52 float old_val[5];
altb2 2:e7874762cc25 53 float val[5];
altb2 2:e7874762cc25 54 uint8_t current_sensor;
altb2 2:e7874762cc25 55 uint8_t n_sensors;
altb2 2:e7874762cc25 56 private:
altb2 2:e7874762cc25 57 PulseInOut pio0;
altb2 2:e7874762cc25 58 PulseInOut pio1;
altb2 2:e7874762cc25 59 PulseInOut pio2;
altb2 2:e7874762cc25 60 PulseInOut pio3;
altb2 2:e7874762cc25 61 float scale, offset;
altb2 2:e7874762cc25 62 int pulsetime, timeout;
altb2 2:e7874762cc25 63
altb2 2:e7874762cc25 64 };
altb2 2:e7874762cc25 65
altb2 2:e7874762cc25 66 #endif