Toby O'Connell / SRF08

Library for interfacing the SRF08 ultrasonic range sensor. Most functions of the SRF08 are covered, including interrupt-based waiting for the ranging process to finish

Dependents:   Project6

Fork of SRF08 by Brent Dekker

Diff: SRF08.cpp

Revision:
5:abd72648aa5d
Parent:
4:a11bd4ea3c18
--- a/SRF08.cpp	Wed Jul 11 08:11:34 2012 +0000
+++ b/SRF08.cpp	Sun May 10 01:55:56 2015 +0000
@@ -42,11 +42,11 @@
  * Returns:     void
  * Description: Sends command to module to start ranging.
  */
-void SRF08::startRanging() {
+void SRF08::startRanging(char rangingType) {
     //Create a two byte command. The first first byte is the register address
     // on the SRF08 to write to. The second byte is the command which is written
     // to that address ("Start ranging in cm" in this case).
-    const char command[] = {0x00, 0x51};
+    char command[] = {0x00, rangingType};
     i2cMod.write(i2cAddress, command, 2);
     this->rangingBusy = true;
     rangeTimeout.attach(this, &SRF08::setRangingFinished, 0.07);
@@ -70,7 +70,7 @@
  * Description: Range in cm. This function should only be called when ranging is finished, otherwise previous value is returned
  */
 int SRF08::getRange() {
-    //while (!rangingFinished() ) wait(0.01);   //Wait until ranging is finished
+    while (!rangingFinished() ) wait(0.01);   //Wait until ranging is finished
     const char command[]  = {0x02};           //Address of range register
     char response[] = {0x00, 0x00};
     i2cMod.write(i2cAddress, command, 1, 1);  //Send command