ultrasonic.h

00001 #ifndef MBED_ULTRASONIC_H
00002 #define MBED_ULTRASONIC_H
00003 
00004 #include "mbed.h"
00005 
00006 class ultrasonic
00007 {
00008     public:
00009         /**iniates the class with the specified trigger pin, echo pin, update speed and timeout**/
00010         ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout);
00011         /**iniates the class with the specified trigger pin, echo pin, update speed, timeout and method to call when the distance changes**/
00012         ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int));
00013         /** returns the last measured distance**/
00014         int getCurrentDistance(void);
00015         /**pauses measuring the distance**/
00016         void pauseUpdates(void);
00017         /**starts mesuring the distance**/
00018         void startUpdates(void);
00019         /**attachs the method to be called when the distances changes**/
00020         void attachOnUpdate(void method(int));
00021         /**changes the speed at which updates are made**/
00022         void changeUpdateSpeed(float updateSpeed);
00023         /**gets whether the distance has been changed since the last call of isUpdated() or checkDistance()**/
00024         int isUpdated(void);
00025         /**gets the speed at which updates are made**/
00026         float getUpdateSpeed(void);
00027         /**call this as often as possible in your code, eg. at the end of a while(1) loop,
00028         and it will check whether the method you have attached needs to be called**/
00029         void checkDistance(void);
00030     private:
00031         DigitalOut _trig;
00032         InterruptIn _echo;
00033         Timer _t;
00034         Timeout _tout;
00035         int _distance;
00036         float _updateSpeed;
00037         int start;
00038         int end;
00039         volatile int done;
00040         void (*_onUpdateMethod)(int);
00041         void _startT(void);
00042         void _updateDist(void);
00043         void _startTrig(void);
00044         float _timeout;
00045         int d;
00046 };
00047 #endif