Revision 5:c23850f8fb5a, committed 2017-12-06

Comitter:

Niranjan_ravi

Date:

Wed Dec 06 19:27:12 2017 +0000

Parent:

4:e0f9c9fb4cf3

Commit message:

commit changes to the revision history

Changed in this revision

--- a/ultrasonic.cpp	Mon Nov 24 20:23:07 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,86 +0,0 @@
- #include "ultrasonic.h"
-    
-    ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout):_trig(trigPin), _echo(echoPin)
-    {
-        _updateSpeed = updateSpeed;
-        _timeout = timeout;
-    }
-    
-    ultrasonic::ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int))
-    :_trig(trigPin), _echo(echoPin)
-    {
-        _onUpdateMethod=onUpdate;
-        _updateSpeed = updateSpeed;
-        _timeout = timeout;
-        _t.start ();
-    }
-    void ultrasonic::_startT()
-    { 
-        if(_t.read()>600)
-        {
-            _t.reset ();
-        }
-        start = _t.read_us ();
-    }
-        
-    void ultrasonic::_updateDist()
-    {
-        end = _t.read_us ();
-        done = 1;
-        _distance = (end - start)/6;       
-        _tout.detach();
-        _tout.attach(this,&ultrasonic::_startTrig, _updateSpeed);   
-    }
-    void ultrasonic::_startTrig(void)
-    {
-            _tout.detach();
-            _trig=1;             
-            wait_us(10);        
-            done = 0;            
-            _echo.rise(this,&ultrasonic::_startT);   
-            _echo.fall(this,&ultrasonic::_updateDist);
-            _echo.enable_irq ();
-            _tout.attach(this,&ultrasonic::_startTrig,_timeout);
-            _trig=0;                     
-    }
-    
-    int ultrasonic::getCurrentDistance(void)
-    {
-        return _distance;
-    }
-    void ultrasonic::pauseUpdates(void)
-    {
-        _tout.detach();
-        _echo.rise(NULL);
-        _echo.fall(NULL);
-    }
-    void ultrasonic::startUpdates(void)
-    {
-        _startTrig();
-    }
-    void ultrasonic::attachOnUpdate(void method(int))
-    {
-        _onUpdateMethod = method;
-    }
-    void ultrasonic::changeUpdateSpeed(float updateSpeed)
-    {
-        _updateSpeed = updateSpeed;
-    }
-    float ultrasonic::getUpdateSpeed()
-    {
-        return _updateSpeed;
-    }
-    int ultrasonic::isUpdated(void)
-    {
-        //printf("%d", done);
-        d=done;
-        done = 0;
-        return d;
-    }
-    void ultrasonic::checkDistance(void)
-    {
-        if(isUpdated())
-        {
-            (*_onUpdateMethod)(_distance);
-        }
-    }

--- a/ultrasonic.h	Mon Nov 24 20:23:07 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,47 +0,0 @@
-#ifndef MBED_ULTRASONIC_H
-#define MBED_ULTRASONIC_H
-
-#include "mbed.h"
-
-class ultrasonic
-{
-    public:
-        /**iniates the class with the specified trigger pin, echo pin, update speed and timeout**/
-        ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout);
-        /**iniates the class with the specified trigger pin, echo pin, update speed, timeout and method to call when the distance changes**/
-        ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int));
-        /** returns the last measured distance**/
-        int getCurrentDistance(void);
-        /**pauses measuring the distance**/
-        void pauseUpdates(void);
-        /**starts mesuring the distance**/
-        void startUpdates(void);
-        /**attachs the method to be called when the distances changes**/
-        void attachOnUpdate(void method(int));
-        /**changes the speed at which updates are made**/
-        void changeUpdateSpeed(float updateSpeed);
-        /**gets whether the distance has been changed since the last call of isUpdated() or checkDistance()**/
-        int isUpdated(void);
-        /**gets the speed at which updates are made**/
-        float getUpdateSpeed(void);
-        /**call this as often as possible in your code, eg. at the end of a while(1) loop,
-        and it will check whether the method you have attached needs to be called**/
-        void checkDistance(void);
-    private:
-        DigitalOut _trig;
-        InterruptIn _echo;
-        Timer _t;
-        Timeout _tout;
-        int _distance;
-        float _updateSpeed;
-        int start;
-        int end;
-        volatile int done;
-        void (*_onUpdateMethod)(int);
-        void _startT(void);
-        void _updateDist(void);
-        void _startTrig(void);
-        float _timeout;
-        int d;
-};
-#endif
\ No newline at end of file