Nick Ryder / RangeFinder

Class to handle triggering and reading the distance measured by a range finder.

Dependencies:   Pulse

Dependents:   SeeedUltrasoundRangeFinder Ultrasonic_sensor_circle_ui riversensor Labo_TRSE_Drone ... more

RangeFinder.cpp@0:05c9036328ee, 2012-07-04 (annotated)

Committer:
NickRyder
Date:
Wed Jul 04 15:55:50 2012 +0000
Revision:
0:05c9036328ee
Released under MIT license.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NickRyder 0:05c9036328ee 1 /* Copyright (c) 2012 Nick Ryder, University of Oxford
NickRyder 0:05c9036328ee 2 * nick.ryder@physics.ox.ac.uk
NickRyder 0:05c9036328ee 3 *
NickRyder 0:05c9036328ee 4 * MIT License
NickRyder 0:05c9036328ee 5 *
NickRyder 0:05c9036328ee 6 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
NickRyder 0:05c9036328ee 7 * and associated documentation files (the "Software"), to deal in the Software without restriction,
NickRyder 0:05c9036328ee 8 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
NickRyder 0:05c9036328ee 9 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
NickRyder 0:05c9036328ee 10 * furnished to do so, subject to the following conditions:
NickRyder 0:05c9036328ee 11 *
NickRyder 0:05c9036328ee 12 * The above copyright notice and this permission notice shall be included in all copies or
NickRyder 0:05c9036328ee 13 * substantial portions of the Software.
NickRyder 0:05c9036328ee 14 *
NickRyder 0:05c9036328ee 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
NickRyder 0:05c9036328ee 16 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NickRyder 0:05c9036328ee 17 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
NickRyder 0:05c9036328ee 18 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
NickRyder 0:05c9036328ee 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
NickRyder 0:05c9036328ee 20 */
NickRyder 0:05c9036328ee 21
NickRyder 0:05c9036328ee 22
NickRyder 0:05c9036328ee 23 #include "RangeFinder.h"
NickRyder 0:05c9036328ee 24
NickRyder 0:05c9036328ee 25 RangeFinder::RangeFinder(PinName pin, int pulsetime, float scale, int time):
NickRyder 0:05c9036328ee 26 pio(pin), scale(scale), pulsetime(pulsetime), timeout(time) {
NickRyder 0:05c9036328ee 27 }
NickRyder 0:05c9036328ee 28
NickRyder 0:05c9036328ee 29 RangeFinder::~RangeFinder() {
NickRyder 0:05c9036328ee 30 }
NickRyder 0:05c9036328ee 31
NickRyder 0:05c9036328ee 32 float RangeFinder::read_m() {
NickRyder 0:05c9036328ee 33 pio.write_us(1, pulsetime);
NickRyder 0:05c9036328ee 34 float t = (float) pio.read_high_us(timeout);
NickRyder 0:05c9036328ee 35 if (t == -1.0) {
NickRyder 0:05c9036328ee 36 return -1.0;
NickRyder 0:05c9036328ee 37 }
NickRyder 0:05c9036328ee 38 return t / scale;
NickRyder 0:05c9036328ee 39 }