SharpDigiDist100.h

00001 #ifndef SHARPDIGIDIST100_H
00002 #define SHARPDIGIDIST100_H
00003 
00004 #include "mbed.h"
00005 
00006 /** A class which interfaces with  a Sharp Digital Distance sensor (GP2Y0D810)
00007  *
00008  *  Example:
00009  * @code
00010  * 
00011  * @endcode
00012  *
00013  */
00014 
00015 class SharpDigiDist100
00016 {
00017 public:
00018 
00019 /** Create a sensor input
00020  *
00021  * @param pin The pin the output of the sensor is connected to
00022  */
00023  
00024 SharpDigiDist100(PinName pin);
00025 
00026 /** The enum which makes up the output
00027  * 
00028  */
00029 
00030 enum Distance
00031 {
00032     Near = 1,
00033     Mid,
00034     Far
00035 };
00036 
00037 /** Returns the distace as an enum
00038  *
00039  * @return The distance code: 1 is near, 2 is middle distance and 3 is far
00040  */
00041  
00042 int getDistance();
00043 
00044 /** Attaches a function which is called on distance change
00045  *
00046  * @param A pointer to a function with params/returns: void func(void)
00047  */
00048 
00049 void attachOnChange(void (*ptr) (void));
00050 
00051 
00052 protected:
00053 
00054 InterruptIn intin;
00055 
00056 DigitalIn pinin;
00057 
00058 Timer timer1;
00059 
00060 enum Distance current;
00061 
00062 enum Distance last;
00063 
00064 void onInt();
00065 
00066 Timeout timeout;
00067 
00068 void (*onChange) (void);
00069 
00070 bool onChangeAttached;
00071 
00072 //DigitalOut Debug;
00073 };
00074 
00075 #endif