c
Dependencies: Servo ServoArm mbed
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Sources/Ultraschall.cpp
- Committer:
- EpicG10
- Date:
- 2017-05-23
- Revision:
- 1:fd3cef0f116d
- Parent:
- 0:15a8480061e8
File content as of revision 1:fd3cef0f116d:
#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; }