ZHAW specific RangeFinder class for ultra sonic range sensor (added offset in class to measure relative from top of board)
Dependencies: Pulse
Dependents: Grove-UltrasonicRanger_Example PM2_Libary PM2_Libary PM2_Libary
RangeFinder.h@0:05c9036328ee, 2012-07-04 (annotated)
- Committer:
- NickRyder
- Date:
- Wed Jul 04 15:55:50 2012 +0000
- Revision:
- 0:05c9036328ee
- Child:
- 2:89d7dd44ecfd
Released under MIT license.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NickRyder | 0:05c9036328ee | 1 | /* Copyright (c) 2012 Nick Ryder, University of Oxford |
NickRyder | 0:05c9036328ee | 2 | * nick.ryder@physics.ox.ac.uk |
NickRyder | 0:05c9036328ee | 3 | * |
NickRyder | 0:05c9036328ee | 4 | * MIT License |
NickRyder | 0:05c9036328ee | 5 | * |
NickRyder | 0:05c9036328ee | 6 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
NickRyder | 0:05c9036328ee | 7 | * and associated documentation files (the "Software"), to deal in the Software without restriction, |
NickRyder | 0:05c9036328ee | 8 | * including without limitation the rights to use, copy, modify, merge, publish, distribute, |
NickRyder | 0:05c9036328ee | 9 | * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is |
NickRyder | 0:05c9036328ee | 10 | * furnished to do so, subject to the following conditions: |
NickRyder | 0:05c9036328ee | 11 | * |
NickRyder | 0:05c9036328ee | 12 | * The above copyright notice and this permission notice shall be included in all copies or |
NickRyder | 0:05c9036328ee | 13 | * substantial portions of the Software. |
NickRyder | 0:05c9036328ee | 14 | * |
NickRyder | 0:05c9036328ee | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
NickRyder | 0:05c9036328ee | 16 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
NickRyder | 0:05c9036328ee | 17 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
NickRyder | 0:05c9036328ee | 18 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
NickRyder | 0:05c9036328ee | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
NickRyder | 0:05c9036328ee | 20 | */ |
NickRyder | 0:05c9036328ee | 21 | |
NickRyder | 0:05c9036328ee | 22 | #ifndef MBED_RANGEFINDER_H |
NickRyder | 0:05c9036328ee | 23 | #define MBED_RANGEFINDER_H |
NickRyder | 0:05c9036328ee | 24 | |
NickRyder | 0:05c9036328ee | 25 | #include "Pulse.h" |
NickRyder | 0:05c9036328ee | 26 | |
NickRyder | 0:05c9036328ee | 27 | /** Range Finder class |
NickRyder | 0:05c9036328ee | 28 | */ |
NickRyder | 0:05c9036328ee | 29 | |
NickRyder | 0:05c9036328ee | 30 | class RangeFinder { |
NickRyder | 0:05c9036328ee | 31 | public: |
NickRyder | 0:05c9036328ee | 32 | /** Create a RangeFinder object |
NickRyder | 0:05c9036328ee | 33 | * @param pin Digital I/O pin the range finder is connected to. |
NickRyder | 0:05c9036328ee | 34 | * @param pulsetime Time of pulse to send to the rangefinder to trigger a measurement, in microseconds. |
NickRyder | 0:05c9036328ee | 35 | * @param scale Scaling of the range finder's output pulse from microseconds to metres. |
NickRyder | 0:05c9036328ee | 36 | * @param timeout Time to wait for a pulse from the range finder before giving up. |
NickRyder | 0:05c9036328ee | 37 | */ |
NickRyder | 0:05c9036328ee | 38 | RangeFinder(PinName pin, int pulsetime, float scale, int timeout); |
NickRyder | 0:05c9036328ee | 39 | ~RangeFinder(); |
NickRyder | 0:05c9036328ee | 40 | /** Return the distance to the nearest object, or -1.0 if reading the pulse timed out. |
NickRyder | 0:05c9036328ee | 41 | */ |
NickRyder | 0:05c9036328ee | 42 | float read_m(); |
NickRyder | 0:05c9036328ee | 43 | private: |
NickRyder | 0:05c9036328ee | 44 | PulseInOut pio; |
NickRyder | 0:05c9036328ee | 45 | float scale; |
NickRyder | 0:05c9036328ee | 46 | int pulsetime, timeout; |
NickRyder | 0:05c9036328ee | 47 | }; |
NickRyder | 0:05c9036328ee | 48 | |
NickRyder | 0:05c9036328ee | 49 | #endif |