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Allows the M3Pi to be used as a Sumo robot, using the sharp 100 distance sensors on the front. Attack mid/near strategy
Diff: SharpDigiDist100/SharpDigiDist100.h
- Revision:
- 0:dda4072af5ff
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SharpDigiDist100/SharpDigiDist100.h Mon Jun 18 09:54:54 2012 +0000 @@ -0,0 +1,75 @@ +#ifndef SHARPDIGIDIST100_H +#define SHARPDIGIDIST100_H + +#include "mbed.h" + +/** A class which interfaces with a Sharp Digital Distance sensor (GP2Y0D810) + * + * Example: + * @code + * + * @endcode + * + */ + +class SharpDigiDist100 +{ +public: + +/** Create a sensor input + * + * @param pin The pin the output of the sensor is connected to + */ + +SharpDigiDist100(PinName pin); + +/** The enum which makes up the output + * + */ + +enum Distance +{ + Near = 1, + Mid, + Far +}; + +/** Returns the distace as an enum + * + * @return The distance code: 1 is near, 2 is middle distance and 3 is far + */ + +int getDistance(); + +/** Attaches a function which is called on distance change + * + * @param A pointer to a function with params/returns: void func(void) + */ + +void attachOnChange(void (*ptr) (void)); + + +protected: + +InterruptIn intin; + +DigitalIn pinin; + +Timer timer1; + +enum Distance current; + +enum Distance last; + +void onInt(); + +Timeout timeout; + +void (*onChange) (void); + +bool onChangeAttached; + +//DigitalOut Debug; +}; + +#endif \ No newline at end of file