hcsr04.h

00001 //////////////////////////////////////////////////////////////////////////////////
00002 // Company: edinburgh of university
00003 // Engineer: ZEjun DU
00004 // 
00005 // Create Date: 2017/08/20 13:06:52
00006 // Design Name: Inverted Pendulum Balancer
00007 // Module Name: distance sensor
00008 // Tool Versions: “Keil 5” or “Mbed Complie Online”
00009 // Description: this part is basic function of position to get distance from distance sensor hcsr04.cpp
00010 //                           
00011 // 
00012 //////////////////////////////////////////////////////////////////////////////////
00013 
00014 #ifndef MBED_HCSR04_H
00015 #define MBED_HCSR04_H
00016 
00017 #include "mbed.h"
00018 
00019 /** HCSR04 Class(es)
00020  */
00021 
00022 class HCSR04
00023 {
00024 public:
00025     /** Create a HCSR04 object connected to the specified pin
00026     * @param pin i/o pin to connect to
00027     */
00028     HCSR04(PinName TrigPin,PinName EchoPin);
00029     ~HCSR04();
00030 
00031     /** Return the distance from obstacle in cm
00032     * @param distance in cms and returns -1, in case of failure
00033     */
00034     unsigned int get_dist_cm(void);
00035     /** Return the pulse duration equal to sonic waves travelling to obstacle and back to receiver.
00036     * @param pulse duration in microseconds.
00037     */
00038     unsigned int get_pulse_us(void);
00039     /** Generates the trigger pulse of 10us on the trigger PIN.
00040     */
00041     void start(void );
00042     void isr_rise(void);
00043     void isr_fall(void);
00044     void fall (void (*fptr)(void));
00045     void rise (void (*fptr)(void));
00046 
00047 
00048 
00049 private:
00050 
00051     Timer pulsetime;
00052     DigitalOut  trigger;
00053     InterruptIn echo;
00054     unsigned int pulsedur;
00055     unsigned int distance;
00056 //    float pulsedur;
00057 //    float distance;
00058     
00059     
00060 };
00061 
00062 #endif