Diff: SRF08.h

Revision:

1:76fb116fa28d

Parent:

0:4e0a8193b92e

Child:

2:ca82f89f415d

--- a/SRF08.h	Thu Jul 05 09:53:18 2012 +0000
+++ b/SRF08.h	Tue Jul 10 08:48:02 2012 +0000
@@ -26,6 +26,8 @@
 
 #include "mbed.h"
 
+#define RANGEBUFSIZE 5
+
 /*
  * The SRF08 is an Ultrasonic range finder, with an I2C interface that allows the measurement to be read directly in centimetres
  */
@@ -50,14 +52,46 @@
      * Description: Destroys instance of SRF08 class
      */
     ~SRF08();
-
+    
+    /* 
+     * Function:    startRanging
+     * Args:        void
+     * Returns:     void
+     * Description: Sends command to module to start ranging.
+     */
+    void startRanging();
+    
+    /* 
+     * Function:    rangingFinished
+     * Args:        void
+     * Returns:     Bool: whether ranging is finished
+     * Description: Checks if the ranging process on the module is finished
+     */
+    bool rangingFinished();
+    
+    /* 
+     * Function:    getRange
+     * Args:        void
+     * Returns:     int range
+     * Description: Range in cm. This function should only be called when ranging is finished, otherwise previous value is returned
+     */
+    void getRange();
+    
     /*
      * Function:    readRange
      * Args:        void
      * Returns:     int range
      * Description: Reads the range register and converts it to a usable value
      */
-    int read();
+    int readRange();
+    
+    /*
+     * Function:    readBufRange
+     * Args:        void
+     * Returns:     int range
+     * Description: Reads the range register, adds it to an array and converts it to a filtered value
+     */
+    //int readBufRange();
     
     /*
      * Function:    readLightIntensity
@@ -90,7 +124,10 @@
 private:
     I2C m_i2c;
     int m_addr;
-
+    int rangeBuf[RANGEBUFSIZE];
+    int rangeBufIndex;
+    
+    int getAverageBufRange(void);
 };
 
 #endif