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.cpp
- Committer:
- pmic
- Date:
- 2022-02-10
- Revision:
- 7:2865b7aec20c
- Parent:
- 5:600591c78153
File content as of revision 7:2865b7aec20c:
/* Copyright (c) 2012 Nick Ryder, University of Oxford * nick.ryder@physics.ox.ac.uk * * MIT License * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without restriction, * including without limitation the rights to use, copy, modify, merge, publish, distribute, * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #include "RangeFinder.h" using namespace std; RangeFinder::RangeFinder(PinName pin, int pulsetime, float scale, float offset, int time): pio(pin), scale(scale), offset(offset), pulsetime(pulsetime), timeout(time) { } RangeFinder::RangeFinder(PinName pin, float scale, float offset, int time): pio(pin), scale(scale), offset(offset), pulsetime(10), timeout(time) { } RangeFinder::~RangeFinder() { } float RangeFinder::read_cm() { pio.write_us(1, pulsetime); float t = (float) pio.read_high_us(timeout); if (t == -1.0) { return -1.0; } return 100.0f*( t / scale + offset ); }