SRF02.h

00001 /**
00002 @file SRF02.h
00003 
00004 @brief Header file containing member functions and variables
00005 
00006 */
00007 
00008 #ifndef SRF02_H
00009 #define SRF02_H
00010 
00011 // addresses
00012 #define SRF02_R_ADD    0xE1
00013 #define SRF02_W_ADD    0xE0
00014 
00015 // registers
00016 #define CMD_REG         0x00
00017 #define RANGE_H_REG     0x02
00018 #define RANGE_L_REG     0x03
00019 
00020 // commands
00021 #define INCH_CMD    0x50
00022 #define CM_CMD      0x51
00023 #define US_CMD      0x52
00024 
00025 #include "mbed.h"
00026 
00027 /**
00028 @brief Library for interfacing with SRF02 Ultrasonic Sensor in I2C
00029 @see http://www.robot-electronics.co.uk/htm/srf02tech.htm
00030 
00031 @brief Revision 1.0
00032 
00033 @author Craig A. Evans
00034 @date   March 2014
00035  *
00036  * Example:
00037  * @code
00038 
00039  #include "mbed.h"
00040  #include "SRF02.h"
00041 
00042  int main() {
00043 
00044     while(1) {
00045 
00046         // read sensor distance in cm and print over serial port
00047         int distance = sensor.getDistanceCm();
00048         serial.printf("Distance = %d cm\n",distance);
00049         // short delay before next measurement
00050         wait(0.5);
00051 
00052     }
00053 }
00054  * @endcode
00055  */
00056 
00057 class SRF02
00058 {
00059 public:
00060 
00061     /** Create a SRF02 object connected to the specified I2C pins
00062     *
00063     * @param sdaPin - mbed SDA pin 
00064     * @param sclPin - mbed SCL pin
00065     * 
00066     */
00067    SRF02(PinName sdaPin, PinName sclPin);
00068     /** Read distance in centimetres
00069     *
00070     * @returns distance in centimetres (int)
00071     * 
00072     */
00073     int getDistanceCm();
00074     int averageDistance();
00075 
00076 private:
00077     /** Hangs in infinite loop flashing 'blue lights of death'
00078     *
00079     */ 
00080     void error();
00081 
00082 
00083 private:  // private variables
00084     I2C* i2c;
00085     BusOut* leds;
00086 };
00087 
00088 #endif