Diff: SRF02.h

Revision:

2:cb489f486ece

Parent:

1:8e6587d88773

--- a/SRF02.h	Sun Mar 08 14:21:40 2015 +0000
+++ b/SRF02.h	Wed Jun 22 15:49:12 2016 +0000
@@ -8,10 +8,6 @@
 #ifndef SRF02_H
 #define SRF02_H
 
-// addresses
-#define SRF02_R_ADD    0xE1
-#define SRF02_W_ADD    0xE0
-
 // registers
 #define CMD_REG         0x00
 #define RANGE_H_REG     0x02
@@ -28,16 +24,18 @@
 @brief Library for interfacing with SRF02 Ultrasonic Sensor in I2C
 @see http://www.robot-electronics.co.uk/htm/srf02tech.htm
 
-@brief Revision 1.0
+@brief Revision 1.1
 
 @author Craig A. Evans
-@date   March 2014
+@date   June 2016
  *
  * Example:
  * @code
 
  #include "mbed.h"
  #include "SRF02.h"
+ 
+ SRF02 sensor(p28,p27,0xE0);  // SDA, SCL, address
 
  int main() {
 
@@ -62,15 +60,22 @@
     *
     * @param sdaPin - mbed SDA pin 
     * @param sclPin - mbed SCL pin
+    * @param addr - write address of the SRF02 sensor 
     * 
     */
-    SRF02(PinName sdaPin, PinName sclPin);
+    SRF02(PinName sdaPin, PinName sclPin, char addr);
     /** Read distance in centimetres
     *
     * @returns distance in centimetres (int)
     * 
     */
     int getDistanceCm();
+    /** Change I2C address of SRF02  sensor
+    *
+    * @param address - @see https://www.robot-electronics.co.uk/htm/srf02techI2C.htm for valid addresses
+    *
+    */
+    void changeAddress(char addr);
 
 private:
     /** Hangs in infinite loop flashing 'blue lights of death'
@@ -82,6 +87,9 @@
 private:  // private variables
     I2C* i2c;
     BusOut* leds;
+    
+    char w_addr_; // write address of sensor
+    char r_addr_; // read address (= write address + 1)
 };
 
 #endif
\ No newline at end of file