zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_PIXY_Officiall

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Dependencies:   Servo ServoArm mbed

Fork of PES_PIXY_Official by zhaw_st16b_pes2_10

Headers/Ultraschall.h

Committer:
EpicG10
Date:
2017-05-23
Revision:
1:fd3cef0f116d
Parent:
0:15a8480061e8

File content as of revision 1:fd3cef0f116d:

#ifndef ULTRASCHALL_H
#define ULTRASCHALL_H
 
#include "mbed.h"
 
/** Ultraschall Class(es)
 */
 
class Ultraschall
{
public:
    /** Create a Ultraschall object connected to the specified pin
    * @param pin i/o pin to connect to
    */
    Ultraschall();
    Ultraschall(PinName TrigPin,PinName EchoPin);
    ~Ultraschall();
 
    /** Return the distance from obstacle in cm
    * @param distance in cms and returns -1, in case of failure
    */ 
    unsigned int get_dist_cm(void);
    /** Return the pulse duration equal to sonic waves travelling to obstacle and back to receiver.
    * @param pulse duration in microseconds.
    */
    unsigned int get_pulse_us(void);
    /** Generates the trigger pulse of 10us on the trigger PIN.
    */
    void start(void);
    void isr_rise(void);
    void isr_fall(void);
    void fall (void (*fptr)(void));
    void rise (void (*fptr)(void));
 
 
 
private:
 
    Timer pulsetime;
    DigitalOut  trigger;
    InterruptIn echo;
    unsigned int pulsedur;
    unsigned int distance;
};
 
#endif