SRF02.h

00001 /* mbed SRF02 Ultra Sonic Range Finder Library
00002  * Copyright (c) 2011 by djoshi [go2dev]
00003  * Permission is hereby granted, free of charge, to any person obtaining a copy
00004  * of this software and associated documentation files (the "Software"), to deal
00005  * in the Software without restriction, including without limitation the rights
00006  *to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00007  *copies of the Software, and to permit persons to whom the Software is
00008  *furnished to do so, subject to the following conditions:
00009  *
00010  *The above copyright notice and this permission notice shall be included in
00011  *all copies or substantial portions of the Software.
00012  *
00013  *THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00014  *IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00015  *FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00016  *AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00017  *LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00018  *OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00019  *THE SOFTWARE.
00020  */
00021 
00022 
00023 /*Header file for the SRF02 sonar range finder class*/
00024 #ifndef SRF02_H
00025 #define SRF02_H
00026 
00027 #include "mbed.h"
00028 
00029 //!Library for the SRF02 Ultrasonic Ranger
00030 /*
00031  * The SRF02 is an I2C Ultrasonic rangefinder which can return values for measured
00032  * distance as either time of flight (uS) or directly in cm or in.
00033 
00034  * Example Usage:
00035  * @code
00036  * //Take a measurement of the current distance (in cm), print the result to the terminal via the debug port
00037  * #include "mbed.h"
00038  * #include "SRF02.h"
00039  *
00040  * Serial debugport(USBTX,USBRX);
00041  * SRF02 mySensor(p9,p10,0xE0);
00042  * main() {
00043  *  while (1) {
00044  *      debugport.printf("current distance: %.2f cm. \r\n", mySensor.measurecm());
00045  *  }
00046  * }
00047  * @endcode
00048 */
00049 
00050 */
00051 
00052 class SRF02 {
00053 public:
00054     /** Create a SRF02 object connected to the specified I2C pins
00055     *
00056     * @param sda I2C Data pin to connect to
00057     * @param scl I2C Clock pin to connect to
00058     */
00059     SRF02(PinName sda, PinName scl, int addr);
00060 
00061     /** Destroys an instance of SRD02
00062     */
00063     ~SRF02();
00064 
00065     /** Get the current distance in centimetres
00066     *
00067     * @param returns the measured distance in centimetres as a float
00068     */
00069     float measurecm();
00070 
00071     /** Get the current distance in centimetres
00072     *
00073     * @param returns the measured distance in inches as a float
00074     */
00075     float measurein();
00076 
00077     /** Get the current distance in centimetres
00078     *
00079     * @param returns the time of flight from the pulse sent from the sensor in microseconds (uS) as a float
00080     */
00081     float measureus();
00082 
00083 
00084 private:
00085     I2C m_i2c;
00086     int m_addr;
00087 
00088     /** dosonar is an internal function for this library which actually manages the I2C transaction with the sensor to get a reading.
00089      * It is not directly accessible by the user via the libaray
00090     */
00091     float dosonar(char rangetype);
00092 
00093 
00094 };
00095 #endif