Diff: Sources/Ultraschall.cpp

Revision:

0:15a8480061e8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sources/Ultraschall.cpp	Mon May 22 11:24:46 2017 +0000
@@ -0,0 +1,54 @@
+#include "Ultraschall.h"
+#include "Robot.h"
+#include "Declarations.h" 
+ 
+Ultraschall::Ultraschall(PinName TrigPin,PinName EchoPin):
+    trigger(TrigPin), echo(EchoPin)
+{
+    pulsetime.stop();
+    pulsetime.reset();
+    echo.rise(this,&Ultraschall::isr_rise);
+    echo.fall(this,&Ultraschall::isr_fall);
+    trigger=0;
+}
+ 
+Ultraschall::~Ultraschall()
+{
+}
+ 
+void Ultraschall::isr_rise(void)
+{
+    pulsetime.start();
+}
+void Ultraschall::start(void)
+{
+    trigger=1;
+    wait_us(10);
+    trigger=0;
+}
+ 
+void Ultraschall::isr_fall(void)
+{
+    pulsetime.stop();
+    pulsedur = pulsetime.read_us();
+    distance= (pulsedur*343)/20000;
+    pulsetime.reset();
+}
+ 
+void Ultraschall::rise (void (*fptr)(void))
+{
+    echo.rise(fptr);
+}
+void Ultraschall::fall (void (*fptr)(void))
+{
+    echo.fall(fptr);
+}
+ 
+unsigned int Ultraschall::get_dist_cm()
+{
+    return distance;
+}
+unsigned int Ultraschall::get_pulse_us()
+{
+    return pulsedur;
+}
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