Miya Miyagawa / Mbed 2 deprecated AutoMaster_si-tu

lknds

Dependencies:   mbed TrapezoidControl Pulse QEI

Input/Ultrasonic/USS/USS.cpp

Committer:
M_souta
Date:
2019-09-17
Revision:
22:7d93f79a3686

File content as of revision 22:7d93f79a3686:

#include "USS.h"
#include "mbed.h"

USS::USS(PinName echoPin, PinName trigPin, PinName tempPin) 
                        :echo_(echoPin), trig_(trigPin), temp_(tempPin)  
{
    distance_ = 0;
    
}

double USS::ReadDis(void) {
    int temp = temp_.getTemperature();
    double duration = echo_.read_high_us(5000);
    trig_.write_us(1,10);
    if(duration > 0){
        duration /= 2;
        double sspead = 331.5+0.6*temp;
        distance_ = duration*sspead*100/1000000;
    } else distance_ = 0;
    return distance_;
}

double USS::GetDis(void) {
    return distance_;
}