Revision 0:d9d8c810ba83, committed 2014-07-27

Comitter:

iramusa

Date:

Sun Jul 27 20:42:24 2014 +0000

Commit message:

Ultrasonic ranger class operational.

Changed in this revision

diff -r 000000000000 -r d9d8c810ba83 HCSR04.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04.cpp	Sun Jul 27 20:42:24 2014 +0000
@@ -0,0 +1,33 @@
+#include "mbed.h"
+#include "HCSR04.h"
+
+HCSR04::HCSR04(PinName pin_trigger, PinName pin_echo, float &container_var):
+caller(pin_trigger),
+listener(pin_echo){
+    range_storage = &container_var; //check how it's done
+    listener.rise(this, &HCSR04::start_counting);
+    listener.fall(this, &HCSR04::stop_counting);
+    time_keeper.start();    
+}
+
+void HCSR04::start_measurement(void){
+    caller = 1;
+    controller.attach_us(this, &HCSR04::stop_calling, TRIGGER_TIME);    
+}
+    
+void HCSR04::stop_calling(void){
+    caller = 0;
+    controller.detach();   
+}
+
+void HCSR04::start_counting(void){
+    time_keeper.reset();   
+}
+
+void HCSR04::stop_counting(void){
+    float temp_range  = (float)time_keeper.read_us()/58.0f; //convert to centimeters
+    if (temp_range < MAX_RANGE)
+        *range_storage = temp_range;
+    else
+        *range_storage = -1.0;
+}
\ No newline at end of file

diff -r 000000000000 -r d9d8c810ba83 HCSR04.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04.h	Sun Jul 27 20:42:24 2014 +0000
@@ -0,0 +1,28 @@
+#ifndef __HCSR04_H__
+#define __HCSR04_H__
+
+#include "mbed.h"
+
+#define TRIGGER_TIME 10 //us
+#define MAX_RANGE 400 //cm
+
+
+class HCSR04{
+public:
+    HCSR04(PinName pin_trigger, PinName pin_echo, float &container_var);
+    void start_measurement(void);
+    float* range_storage;
+    
+private:
+    long unsigned int time_0, time_f;
+    Ticker controller;
+    Timer time_keeper;
+    DigitalOut caller;
+    InterruptIn listener;
+    
+    void stop_calling();
+    void start_counting();
+    void stop_counting();
+};  
+
+#endif /* __HCSR04_H__ */
\ No newline at end of file

diff -r 000000000000 -r d9d8c810ba83 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Jul 27 20:42:24 2014 +0000
@@ -0,0 +1,19 @@
+#include "mbed.h"
+#include "range.cpp"
+#include "HCSR04.h"
+
+int main()
+{
+    DigitalOut myled(LED_GREEN);
+    Serial pc(USBTX, USBRX);
+    float range = 0.0f;
+    HCSR04 ranger(PTA12, PTD4, range); //trig, echo 
+    pc.printf("Hello World!\n");
+
+    while (true) {
+        ranger.start_measurement();
+        wait(0.5f); // wait a small period of time
+        pc.printf("range = %f cm \n", range);
+        myled = !myled;
+    }
+}

diff -r 000000000000 -r d9d8c810ba83 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Jul 27 20:42:24 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/6213f644d804
\ No newline at end of file