Diff: Sensors/LidarLitePwm/LidarLitePwm.h

Revision:

4:9ffbf9101992

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/LidarLitePwm/LidarLitePwm.h	Fri May 08 09:07:38 2015 +0000
@@ -0,0 +1,39 @@
+#include "mbed.h"
+#include "filter.h"
+
+#ifndef LidarLitePwm_H
+#define LidarLitePwm_H
+ 
+class LidarLitePwm
+{
+  public:
+    LidarLitePwm(PinName input);
+    ~LidarLitePwm();
+    
+    /// Returns range in cm as int
+    int read();
+    
+    
+    /// Returns the range in CM as an int
+    operator int();
+    
+  private:
+
+    /// Inturrupt at start of pulse
+    void pulseStart();
+    /// Interrupt at end of pulse
+    void pulseStop();
+    
+    /// Interrupt driver for the input pin
+    InterruptIn _interrupt;
+    /// Timer
+    Timer _timer;
+    /// Time of the start of the current pulse
+    int _pulseStartTime;
+    /// The most recent sample
+    int _range;
+    
+    filter* _lidarFilter;
+};
+ 
+#endif
\ No newline at end of file