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Dependencies:   mbed TrapezoidControl Pulse QEI

Input/Ultrasonic/USS/USS.cpp@22:7d93f79a3686, 2019-09-17 (annotated)

Committer:
M_souta
Date:
Tue Sep 17 04:40:17 2019 +0000
Revision:
22:7d93f79a3686
kkk

Who changed what in which revision?

UserRevisionLine numberNew contents of line
M_souta 22:7d93f79a3686 1 #include "USS.h"
M_souta 22:7d93f79a3686 2 #include "mbed.h"
M_souta 22:7d93f79a3686 3
M_souta 22:7d93f79a3686 4 USS::USS(PinName echoPin, PinName trigPin, PinName tempPin)
M_souta 22:7d93f79a3686 5 :echo_(echoPin), trig_(trigPin), temp_(tempPin)
M_souta 22:7d93f79a3686 6 {
M_souta 22:7d93f79a3686 7 distance_ = 0;
M_souta 22:7d93f79a3686 8
M_souta 22:7d93f79a3686 9 }
M_souta 22:7d93f79a3686 10
M_souta 22:7d93f79a3686 11 double USS::ReadDis(void) {
M_souta 22:7d93f79a3686 12 int temp = temp_.getTemperature();
M_souta 22:7d93f79a3686 13 double duration = echo_.read_high_us(5000);
M_souta 22:7d93f79a3686 14 trig_.write_us(1,10);
M_souta 22:7d93f79a3686 15 if(duration > 0){
M_souta 22:7d93f79a3686 16 duration /= 2;
M_souta 22:7d93f79a3686 17 double sspead = 331.5+0.6*temp;
M_souta 22:7d93f79a3686 18 distance_ = duration*sspead*100/1000000;
M_souta 22:7d93f79a3686 19 } else distance_ = 0;
M_souta 22:7d93f79a3686 20 return distance_;
M_souta 22:7d93f79a3686 21 }
M_souta 22:7d93f79a3686 22
M_souta 22:7d93f79a3686 23 double USS::GetDis(void) {
M_souta 22:7d93f79a3686 24 return distance_;
M_souta 22:7d93f79a3686 25 }