jm6wud
us015.h@3:0a8266796866, 2020-10-22 (annotated)
- Committer:
- jm6wud
- Date:
- Thu Oct 22 13:36:12 2020 +0000
- Revision:
- 3:0a8266796866
- Parent:
- 2:ed37eac35bf2
jm6wud
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jm6wud | 1:891c2c84286d | 1 | #ifndef __US015_H |
jm6wud | 1:891c2c84286d | 2 | #define __US015_H |
jm6wud | 3:0a8266796866 | 3 | |
jm6wud | 1:891c2c84286d | 4 | #include "mbed.h" |
jm6wud | 2:ed37eac35bf2 | 5 | |
jm6wud | 3:0a8266796866 | 6 | |
jm6wud | 1:891c2c84286d | 7 | //==================================== |
jm6wud | 1:891c2c84286d | 8 | // define定義 |
jm6wud | 1:891c2c84286d | 9 | //==================================== |
jm6wud | 1:891c2c84286d | 10 | #define US015_TRIGER_ON 1 // トリガーON |
jm6wud | 1:891c2c84286d | 11 | #define US015_TRIGER_OFF 0 // トリガーOFF |
jm6wud | 1:891c2c84286d | 12 | #define US015_TRIGER_PALUSE_WIDTH 10 // トリガーの幅 |
jm6wud | 3:0a8266796866 | 13 | #define US015_PERIODIC_TRIGER 100000 // 音響測距トリガー |
jm6wud | 3:0a8266796866 | 14 | #define US015_SOUND_OF_SPEED 0.340 // 音速[mm/us] |
jm6wud | 3:0a8266796866 | 15 | |
jm6wud | 3:0a8266796866 | 16 | |
jm6wud | 1:891c2c84286d | 17 | //==================================== |
jm6wud | 1:891c2c84286d | 18 | // 音響測距センサ(US015)の制御クラス |
jm6wud | 1:891c2c84286d | 19 | //==================================== |
jm6wud | 1:891c2c84286d | 20 | class US015 |
jm6wud | 1:891c2c84286d | 21 | { |
jm6wud | 1:891c2c84286d | 22 | public: |
jm6wud | 1:891c2c84286d | 23 | US015(PinName trg, PinName ech); |
jm6wud | 1:891c2c84286d | 24 | US015(PinName trg, PinName ech, float tkTime); |
jm6wud | 1:891c2c84286d | 25 | float GetDistance(); |
jm6wud | 1:891c2c84286d | 26 | void TrigerOut(); // トリガー出力 |
jm6wud | 1:891c2c84286d | 27 | |
jm6wud | 1:891c2c84286d | 28 | private: |
jm6wud | 1:891c2c84286d | 29 | DigitalOut _trigerOut; // U015トリガー出力 |
jm6wud | 1:891c2c84286d | 30 | InterruptIn _interruptEcho; // U015エコー入力 |
jm6wud | 1:891c2c84286d | 31 | Timer timer; // 時間計測用のタイマ |
jm6wud | 1:891c2c84286d | 32 | Ticker tk; // 周期処理用のチッカー |
jm6wud | 1:891c2c84286d | 33 | float tmBegin; // エコーの立ち上がり時間 |
jm6wud | 1:891c2c84286d | 34 | float tmEnd; // エコーの立ち下がり時間 |
jm6wud | 1:891c2c84286d | 35 | float distance; // 距離測定 |
jm6wud | 1:891c2c84286d | 36 | void EchoFall(); // エコーの立ち下がり処理 |
jm6wud | 1:891c2c84286d | 37 | void EchoRise(); // エコーの立ち上がり処理 |
jm6wud | 1:891c2c84286d | 38 | }; |
jm6wud | 3:0a8266796866 | 39 | |
jm6wud | 0:1f9d90cd7d0d | 40 | #endif |