Eduard Medla / Mbed 2 deprecated Autonomous_quadcopter

Regenerating PPM signal based on distances from ultrasonic sensors, ESP8266 for connectin via wifi. Autonomous quadcopter behaviour, autonomou height holding. Flying direction based on front and back ultrasonic sensors.

Dependencies:   ConfigFile HCSR04 PID PPM2 mbed-rtos mbed

SRFO2/srf02.h@2:d172c9963f87, 2017-10-26 (annotated)

Committer:
edy05
Date:
Thu Oct 26 15:54:47 2017 +0000
Revision:
2:d172c9963f87
stable release with distanceRegulation thread

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 2:d172c9963f87 1 #ifndef SRF02_H
edy05 2:d172c9963f87 2 #define SRF02_H
edy05 2:d172c9963f87 3
edy05 2:d172c9963f87 4 #include "mbed.h"
edy05 2:d172c9963f87 5
edy05 2:d172c9963f87 6
edy05 2:d172c9963f87 7 /** Library to control SRF02 ultrasonic sensor */
edy05 2:d172c9963f87 8 class SRF02
edy05 2:d172c9963f87 9 {
edy05 2:d172c9963f87 10 public:
edy05 2:d172c9963f87 11 /** Creates an instance of the class
edy05 2:d172c9963f87 12 *
edy05 2:d172c9963f87 13 * @param sda I2C sda Pin
edy05 2:d172c9963f87 14 * @param scl I2C scl Pin
edy05 2:d172c9963f87 15 */
edy05 2:d172c9963f87 16 SRF02(PinName sda, PinName scl, int addr);
edy05 2:d172c9963f87 17
edy05 2:d172c9963f87 18 /** Destroys instance */
edy05 2:d172c9963f87 19 ~SRF02();
edy05 2:d172c9963f87 20
edy05 2:d172c9963f87 21 /** Read the range data in centimeters */
edy05 2:d172c9963f87 22 int readcm();
edy05 2:d172c9963f87 23
edy05 2:d172c9963f87 24 /** Read the range data in inches */
edy05 2:d172c9963f87 25 int readinch();
edy05 2:d172c9963f87 26
edy05 2:d172c9963f87 27 /** Change the adress of the device. This is very usefull when there are more sensors.
edy05 2:d172c9963f87 28 * This function must be executed with only one sensor conected.
edy05 2:d172c9963f87 29 */
edy05 2:d172c9963f87 30 void change_addr(char new_addr);
edy05 2:d172c9963f87 31
edy05 2:d172c9963f87 32 private:
edy05 2:d172c9963f87 33 /** wait for ranging to complete
edy05 2:d172c9963f87 34 * This function is for internal use
edy05 2:d172c9963f87 35 */
edy05 2:d172c9963f87 36 void wait_ranging(void);
edy05 2:d172c9963f87 37 I2C m_i2c;
edy05 2:d172c9963f87 38 int m_addr;
edy05 2:d172c9963f87 39
edy05 2:d172c9963f87 40 };
edy05 2:d172c9963f87 41
edy05 2:d172c9963f87 42 #endif