File content as of revision 3:ab0d9d3ae4d4:

//Theremin style demo using HC-SR04 Sonar and a speaker
// moving a hand away/towards sonar changes audio frequency
#include "mbed.h"
#include "ultrasonic.h"
#include "DRV2605.h"
 

//DRV2605 haptics(p9, p10);

I2C i2c1(p9, p10);
I2C i2c2(p28, p27);
bool isERM = true;
DRV2605 hap1(i2c1);
DRV2605 hap2(i2c2);

 
 
Timeout cycle;
 
//ultrasonic mu(p7, p8, .07, 1, &newdist);   
volatile int half_cycle_time = 1;
 
//two calls to this interrupt routine generates a square wave
void toggle_interrupt()
{
  //  getCurrentDistance(0)=distance;
    if (distance > 10) {
        hap1.setWaveform(0);
        hap1.playRtp(10);
        } else if (distance > 50) {
            hap1.seWaveform(0);
            hap1.playRtp(50);
        }
    
    /*if (half_cycle_time>22000) haptics.play_waveform(0);
    else {
        static int e1 = 1;
        haptics.play_waveform(e1);
            e1+=10; 
            if(e1 > 121) e1 = 1;
        }
    led = !led;*/
    
    cycle.detach();
    //update time for interrupt activation -change frequency of square wave
    cycle.attach_us(&toggle_interrupt, half_cycle_time);
}

/*
void newdist(int distance)
{
    //update frequency based on new sonar data
    led2 = !led2;
    half_cycle_time = distance<<3;
}
*/
//HC-SR04 Sonar module
// ultrasonic mu(p7, p8, .07, 1, &newdist);  
//Set the trigger pin to p6 and the echo pin to p7
//have updates every .07 seconds and a timeout after 1
//second, and call newdist when the distance changes
 
int main()
{
    //audio = 0;
    //led = 0;
    cycle.attach(&toggle_interrupt, half_cycle_time);
    mu.startUpdates();//start measuring the distance with the sonar
    while(1) {
        //Do something else here
        mu.checkDistance();     
        //call checkDistance() as much as possible, as this is where
        //the class checks if dist needs to be called.
    }
}