Diff: SRF02.h

Revision:

0:862f11d627f9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SRF02.h	Sun Jul 10 16:40:35 2011 +0000
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+/* mbed SRF02 Ultra Sonic Range Finder Library
+ * Copyright (c) 2011 by djoshi [go2dev]
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ *to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ *copies of the Software, and to permit persons to whom the Software is
+ *furnished to do so, subject to the following conditions:
+ *
+ *The above copyright notice and this permission notice shall be included in
+ *all copies or substantial portions of the Software.
+ *
+ *THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ *IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ *FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ *AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ *LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ *OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ *THE SOFTWARE.
+ */
+
+
+/*Header file for the SRF02 sonar range finder class*/
+#ifndef SRF02_H
+#define SRF02_H
+
+#include "mbed.h"
+
+//!Library for the SRF02 Ultrasonic Ranger
+/*
+ * The SRF02 is an I2C Ultrasonic rangefinder which can return values for measured
+ * distance as either time of flight (uS) or directly in cm or in.
+
+ * Example Usage:
+ * @code
+ * //Take a measurement of the current distance (in cm), print the result to the terminal via the debug port
+ * #include "mbed.h"
+ * #include "SRF02.h"
+ *
+ * Serial debugport(USBTX,USBRX);
+ * SRF02 mySensor(p9,p10,0xE0);
+ * main() {
+ *  while (1) {
+ *      debugport.printf("current distance: %.2f cm. \r\n", mySensor.measurecm());
+ *  }
+ * }
+ * @endcode
+*/
+
+*/
+
+class SRF02 {
+public:
+    /** Create a SRF02 object connected to the specified I2C pins
+    *
+    * @param sda I2C Data pin to connect to
+    * @param scl I2C Clock pin to connect to
+    */
+    SRF02(PinName sda, PinName scl, int addr);
+
+    /** Destroys an instance of SRD02
+    */
+    ~SRF02();
+
+    /** Get the current distance in centimetres
+    *
+    * @param returns the measured distance in centimetres as a float
+    */
+    float measurecm();
+
+    /** Get the current distance in centimetres
+    *
+    * @param returns the measured distance in inches as a float
+    */
+    float measurein();
+
+    /** Get the current distance in centimetres
+    *
+    * @param returns the time of flight from the pulse sent from the sensor in microseconds (uS) as a float
+    */
+    float measureus();
+
+
+private:
+    I2C m_i2c;
+    int m_addr;
+
+    /** dosonar is an internal function for this library which actually manages the I2C transaction with the sensor to get a reading.
+     * It is not directly accessible by the user via the libaray
+    */
+    float dosonar(char rangetype);
+
+
+};
+#endif
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