Class to handle triggering and reading the distance measured by a range finder.
Dependents: SeeedUltrasoundRangeFinder Ultrasonic_sensor_circle_ui riversensor Labo_TRSE_Drone ... more
RangeFinder.cpp
- Committer:
- NickRyder
- Date:
- 2012-08-09
- Revision:
- 1:cf496fb70317
- Parent:
- 0:05c9036328ee
File content as of revision 1:cf496fb70317:
/* 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. */ #include "RangeFinder.h" RangeFinder::RangeFinder(PinName pin, int pulsetime, float scale, int time): pio(pin), scale(scale), pulsetime(pulsetime), timeout(time) { } RangeFinder::~RangeFinder() { } float RangeFinder::read_m() { pio.write_us(1, pulsetime); float t = (float) pio.read_high_us(timeout); if (t == -1.0) { return -1.0; } return t / scale; }