Jon Marsh / Mbed 2 deprecated m3pi_runner

Allows the M3Pi to be used as a Sumo robot, using the sharp 100 distance sensors on the front. Run away strategy

Dependencies:   mbed

SharpDigiDist100/SharpDigiDist100.h@0:11d0f3e0d1ad, 2012-06-18 (annotated)

Committer:
jonmarsh
Date:
Mon Jun 18 09:38:17 2012 +0000
Revision:
0:11d0f3e0d1ad
Not tested

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jonmarsh 0:11d0f3e0d1ad 1 #ifndef SHARPDIGIDIST100_H
jonmarsh 0:11d0f3e0d1ad 2 #define SHARPDIGIDIST100_H
jonmarsh 0:11d0f3e0d1ad 3
jonmarsh 0:11d0f3e0d1ad 4 #include "mbed.h"
jonmarsh 0:11d0f3e0d1ad 5
jonmarsh 0:11d0f3e0d1ad 6 /** A class which interfaces with a Sharp Digital Distance sensor (GP2Y0D810)
jonmarsh 0:11d0f3e0d1ad 7 *
jonmarsh 0:11d0f3e0d1ad 8 * Example:
jonmarsh 0:11d0f3e0d1ad 9 * @code
jonmarsh 0:11d0f3e0d1ad 10 *
jonmarsh 0:11d0f3e0d1ad 11 * @endcode
jonmarsh 0:11d0f3e0d1ad 12 *
jonmarsh 0:11d0f3e0d1ad 13 */
jonmarsh 0:11d0f3e0d1ad 14
jonmarsh 0:11d0f3e0d1ad 15 class SharpDigiDist100
jonmarsh 0:11d0f3e0d1ad 16 {
jonmarsh 0:11d0f3e0d1ad 17 public:
jonmarsh 0:11d0f3e0d1ad 18
jonmarsh 0:11d0f3e0d1ad 19 /** Create a sensor input
jonmarsh 0:11d0f3e0d1ad 20 *
jonmarsh 0:11d0f3e0d1ad 21 * @param pin The pin the output of the sensor is connected to
jonmarsh 0:11d0f3e0d1ad 22 */
jonmarsh 0:11d0f3e0d1ad 23
jonmarsh 0:11d0f3e0d1ad 24 SharpDigiDist100(PinName pin);
jonmarsh 0:11d0f3e0d1ad 25
jonmarsh 0:11d0f3e0d1ad 26 /** The enum which makes up the output
jonmarsh 0:11d0f3e0d1ad 27 *
jonmarsh 0:11d0f3e0d1ad 28 */
jonmarsh 0:11d0f3e0d1ad 29
jonmarsh 0:11d0f3e0d1ad 30 enum Distance
jonmarsh 0:11d0f3e0d1ad 31 {
jonmarsh 0:11d0f3e0d1ad 32 Near = 1,
jonmarsh 0:11d0f3e0d1ad 33 Mid,
jonmarsh 0:11d0f3e0d1ad 34 Far
jonmarsh 0:11d0f3e0d1ad 35 };
jonmarsh 0:11d0f3e0d1ad 36
jonmarsh 0:11d0f3e0d1ad 37 /** Returns the distace as an enum
jonmarsh 0:11d0f3e0d1ad 38 *
jonmarsh 0:11d0f3e0d1ad 39 * @return The distance code: 1 is near, 2 is middle distance and 3 is far
jonmarsh 0:11d0f3e0d1ad 40 */
jonmarsh 0:11d0f3e0d1ad 41
jonmarsh 0:11d0f3e0d1ad 42 int getDistance();
jonmarsh 0:11d0f3e0d1ad 43
jonmarsh 0:11d0f3e0d1ad 44 /** Attaches a function which is called on distance change
jonmarsh 0:11d0f3e0d1ad 45 *
jonmarsh 0:11d0f3e0d1ad 46 * @param A pointer to a function with params/returns: void func(void)
jonmarsh 0:11d0f3e0d1ad 47 */
jonmarsh 0:11d0f3e0d1ad 48
jonmarsh 0:11d0f3e0d1ad 49 void attachOnChange(void (*ptr) (void));
jonmarsh 0:11d0f3e0d1ad 50
jonmarsh 0:11d0f3e0d1ad 51
jonmarsh 0:11d0f3e0d1ad 52 protected:
jonmarsh 0:11d0f3e0d1ad 53
jonmarsh 0:11d0f3e0d1ad 54 InterruptIn intin;
jonmarsh 0:11d0f3e0d1ad 55
jonmarsh 0:11d0f3e0d1ad 56 DigitalIn pinin;
jonmarsh 0:11d0f3e0d1ad 57
jonmarsh 0:11d0f3e0d1ad 58 Timer timer1;
jonmarsh 0:11d0f3e0d1ad 59
jonmarsh 0:11d0f3e0d1ad 60 enum Distance current;
jonmarsh 0:11d0f3e0d1ad 61
jonmarsh 0:11d0f3e0d1ad 62 enum Distance last;
jonmarsh 0:11d0f3e0d1ad 63
jonmarsh 0:11d0f3e0d1ad 64 void onInt();
jonmarsh 0:11d0f3e0d1ad 65
jonmarsh 0:11d0f3e0d1ad 66 Timeout timeout;
jonmarsh 0:11d0f3e0d1ad 67
jonmarsh 0:11d0f3e0d1ad 68 void (*onChange) (void);
jonmarsh 0:11d0f3e0d1ad 69
jonmarsh 0:11d0f3e0d1ad 70 bool onChangeAttached;
jonmarsh 0:11d0f3e0d1ad 71
jonmarsh 0:11d0f3e0d1ad 72 //DigitalOut Debug;
jonmarsh 0:11d0f3e0d1ad 73 };
jonmarsh 0:11d0f3e0d1ad 74
jonmarsh 0:11d0f3e0d1ad 75 #endif