cansat_B 2019 / Mbed 2 deprecated CameraUS015sb612-3moter_Renewal

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Dependencies:   mbed

us015.h@0:f728b8e6bdf2, 2019-11-15 (annotated)

Committer:
KINU
Date:
Fri Nov 15 14:02:01 2019 +0000
Revision:
0:f728b8e6bdf2
us015sb612Camera

Who changed what in which revision?

UserRevisionLine numberNew contents of line
KINU 0:f728b8e6bdf2 1 #ifndef __US015_H
KINU 0:f728b8e6bdf2 2 #define __US015_H
KINU 0:f728b8e6bdf2 3
KINU 0:f728b8e6bdf2 4 #include "mbed.h"
KINU 0:f728b8e6bdf2 5
KINU 0:f728b8e6bdf2 6
KINU 0:f728b8e6bdf2 7 //====================================
KINU 0:f728b8e6bdf2 8 // define定義
KINU 0:f728b8e6bdf2 9 //====================================
KINU 0:f728b8e6bdf2 10 #define US015_TRIGER_ON 1 // トリガーON
KINU 0:f728b8e6bdf2 11 #define US015_TRIGER_OFF 0 // トリガーOFF
KINU 0:f728b8e6bdf2 12 #define US015_TRIGER_PALUSE_WIDTH 10 // トリガーの幅
KINU 0:f728b8e6bdf2 13 #define US015_PERIODIC_TRIGER 100000 // 音響測距トリガー
KINU 0:f728b8e6bdf2 14 #define US015_SOUND_OF_SPEED 0.340 // 音速[mm/us]
KINU 0:f728b8e6bdf2 15
KINU 0:f728b8e6bdf2 16
KINU 0:f728b8e6bdf2 17 //====================================
KINU 0:f728b8e6bdf2 18 // 音響測距センサ(US015)の制御クラス
KINU 0:f728b8e6bdf2 19 //====================================
KINU 0:f728b8e6bdf2 20 class US015
KINU 0:f728b8e6bdf2 21 {
KINU 0:f728b8e6bdf2 22 public:
KINU 0:f728b8e6bdf2 23 US015(PinName trg, PinName ech);
KINU 0:f728b8e6bdf2 24 US015(PinName trg, PinName ech, float tkTime);
KINU 0:f728b8e6bdf2 25 float GetDistance();
KINU 0:f728b8e6bdf2 26 void TrigerOut(); // トリガー出力
KINU 0:f728b8e6bdf2 27
KINU 0:f728b8e6bdf2 28 private:
KINU 0:f728b8e6bdf2 29 DigitalOut _trigerOut; // U015トリガー出力
KINU 0:f728b8e6bdf2 30 InterruptIn _interruptEcho; // U015エコー入力
KINU 0:f728b8e6bdf2 31 Timer timer; // 時間計測用のタイマ
KINU 0:f728b8e6bdf2 32 Ticker tk; // 周期処理用のチッカー
KINU 0:f728b8e6bdf2 33 float tmBegin; // エコーの立ち上がり時間
KINU 0:f728b8e6bdf2 34 float tmEnd; // エコーの立ち下がり時間
KINU 0:f728b8e6bdf2 35 float distance; // 距離測定
KINU 0:f728b8e6bdf2 36 void EchoFall(); // エコーの立ち下がり処理
KINU 0:f728b8e6bdf2 37 void EchoRise(); // エコーの立ち上がり処理
KINU 0:f728b8e6bdf2 38 };
KINU 0:f728b8e6bdf2 39
KINU 0:f728b8e6bdf2 40 #endif