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
- Committer:
- pmic
- Date:
- 2021-04-14
- Revision:
- 5:600591c78153
- Parent:
- 3:cbb20cd7905d
File content as of revision 5:600591c78153:
/* 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. */ #ifndef MBED_RANGEFINDER_H #define MBED_RANGEFINDER_H #include "Pulse.h" /** Range Finder class */ class RangeFinder { public: /** Create a RangeFinder object * @param pin Digital I/O pin the range finder is connected to. * @param pulsetime Time of pulse to send to the rangefinder to trigger a measurement, in microseconds. * @param scale Scaling of the range finder's output pulse from microseconds to meters. * @param offset Offset of the range finder's output pulse to adjust absolut reference. * @param timeout Time to wait for a pulse from the range finder before giving up. * y = x/scale + offset */ RangeFinder(PinName pin, int pulsetime, float scale, float offset, int time); RangeFinder(PinName pin, float scale, float offset, int time); /** Return the distance to the nearest object, or -1.0 if reading the pulse timed out. */ float operator()() { return read_cm(); } virtual ~RangeFinder(); float read_cm(); private: PulseInOut pio; float scale, offset; int pulsetime, timeout; }; #endif