semin ahn
/
zeta_stm_kinetic
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Diff: HCSR04/SONAR_MANAGER.hpp
- Revision:
- 2:0de4854743f7
- Child:
- 3:a4677501ae87
diff -r 2594a70c1ddd -r 0de4854743f7 HCSR04/SONAR_MANAGER.hpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04/SONAR_MANAGER.hpp Thu Jun 10 01:23:00 2021 +0000
@@ -0,0 +1,27 @@
+#ifndef ZETA_BOT_MODULE_SONAR_MANAGER_HPP_
+#define ZETA_BOT_MODULE_SONAR_MANAGER_HPP_
+#include "HCSR04.h"
+#include "mbed.h"
+#include <vector>
+class SONAR_MANAGER
+{
+ public:
+ SONAR_MANAGER(PinName, HCSR04*, size_t);
+ void GetDistance(volatile float dest[]);
+ void PrintReady();
+ void Begin(float);
+ private:
+ DigitalOut trigger;
+ HCSR04* sonar;
+ size_t num_sonar;
+ float control_freq;
+ vector<float> distance;
+ Ticker scheduler;
+ Timeout triggerTimeout;
+ int ready[10];
+
+ void Loop();
+ void turnOffTrigger();
+};
+#endif
+