Library for the LidarLite, gets distance in cm using the pwm output
Fork of MaxbotixDriver by
LidarLitePwm.h@2:be66a4cd86c0, 2015-03-18 (annotated)
- Committer:
- joe4465
- Date:
- Wed Mar 18 09:17:13 2015 +0000
- Revision:
- 2:be66a4cd86c0
- Parent:
- 1:32f0a592b9e5
- Child:
- 3:0b1f4404cb21
V1.1 Internal timer
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
joe4465 | 1:32f0a592b9e5 | 1 | #include "mbed.h" |
joe4465 | 1:32f0a592b9e5 | 2 | |
joe4465 | 1:32f0a592b9e5 | 3 | #ifndef LidarLitePwm_H |
joe4465 | 1:32f0a592b9e5 | 4 | #define LidarLitePwm_H |
joe4465 | 1:32f0a592b9e5 | 5 | |
joe4465 | 1:32f0a592b9e5 | 6 | class LidarLitePwm |
joe4465 | 1:32f0a592b9e5 | 7 | { |
joe4465 | 1:32f0a592b9e5 | 8 | public: |
joe4465 | 2:be66a4cd86c0 | 9 | LidarLitePwm(PinName input); |
joe4465 | 2:be66a4cd86c0 | 10 | ~LidarLitePwm(); |
joe4465 | 1:32f0a592b9e5 | 11 | |
joe4465 | 1:32f0a592b9e5 | 12 | /// Returns range in cm as int |
joe4465 | 1:32f0a592b9e5 | 13 | int read(); |
joe4465 | 1:32f0a592b9e5 | 14 | |
joe4465 | 1:32f0a592b9e5 | 15 | /// Returns the range in CM as an int |
joe4465 | 1:32f0a592b9e5 | 16 | operator int(); |
joe4465 | 1:32f0a592b9e5 | 17 | |
joe4465 | 1:32f0a592b9e5 | 18 | private: |
joe4465 | 2:be66a4cd86c0 | 19 | |
joe4465 | 1:32f0a592b9e5 | 20 | /// Inturrupt at start of pulse |
joe4465 | 1:32f0a592b9e5 | 21 | void pulseStart(); |
joe4465 | 1:32f0a592b9e5 | 22 | /// Interrupt at end of pulse |
joe4465 | 1:32f0a592b9e5 | 23 | void pulseStop(); |
joe4465 | 1:32f0a592b9e5 | 24 | |
joe4465 | 1:32f0a592b9e5 | 25 | /// Interrupt driver for the input pin |
joe4465 | 1:32f0a592b9e5 | 26 | InterruptIn _interrupt; |
joe4465 | 2:be66a4cd86c0 | 27 | /// Timer |
joe4465 | 2:be66a4cd86c0 | 28 | Timer _timer; |
joe4465 | 1:32f0a592b9e5 | 29 | /// Time of the start of the current pulse |
joe4465 | 1:32f0a592b9e5 | 30 | int _pulseStartTime; |
joe4465 | 1:32f0a592b9e5 | 31 | /// The most recent sample |
joe4465 | 1:32f0a592b9e5 | 32 | int _range; |
joe4465 | 1:32f0a592b9e5 | 33 | }; |
joe4465 | 1:32f0a592b9e5 | 34 | |
joe4465 | 1:32f0a592b9e5 | 35 | #endif |