Diff: SRF02.cpp

Revision:

3:78c8202f8929

Parent:

0:b729d2ce03bd

--- a/SRF02.cpp	Fri Mar 18 15:03:50 2016 +0000
+++ b/SRF02.cpp	Fri Apr 15 13:24:10 2016 +0000
@@ -15,6 +15,34 @@
 
 }
 
+int SRF02::getDistannceInch()
+{
+    char data[2];
+    
+    // need to send CM command to command register
+    data[0] = CMD_REG;
+    data[1] = INCH_CMD;
+    int ack = i2c->write(SRF02_W_ADD,data,2);  
+    if (ack)
+        error();  // if we don't receive acknowledgement, flash error message
+        
+    // this will start the sensor ranging, the datasheet suggests a delay of at least 65 ms before reading the result
+    wait_ms(70);
+    
+    // we can now read the result - tell the sensor we want the high byte
+    char reg = RANGE_H_REG;   
+    ack = i2c->write(SRF02_W_ADD,&reg,1);  
+    if (ack)
+        error();  // if we don't receive acknowledgement, flash error message
+    
+    // if we read two bytes, the register is automatically incremented (H and L)
+    ack = i2c->read(SRF02_R_ADD,data,2); 
+    if (ack)
+        error();  // if we don't receive acknowledgement, flash error message
+
+    // high byte is first, then low byte, so combine into 16-bit value
+    return (data[0] << 8) | data[1];
+}
 int SRF02::getDistanceCm()
 {
     char data[2];