Jon Marsh
Testcode for LVC Robot club
SharpDigiDist100/SharpDigiDist100.h@1:fe52aa73cd6a, 2012-04-23 (annotated)
- Committer:
- jonmarsh
- Date:
- Mon Apr 23 09:32:50 2012 +0000
- Revision:
- 1:fe52aa73cd6a
- Parent:
- 0:f4922a2a0292
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| jonmarsh | 0:f4922a2a0292 | 1 | #ifndef SHARPDIGIDIST100_H |
| jonmarsh | 0:f4922a2a0292 | 2 | #define SHARPDIGIDIST100_H |
| jonmarsh | 0:f4922a2a0292 | 3 | |
| jonmarsh | 0:f4922a2a0292 | 4 | #include "mbed.h" |
| jonmarsh | 0:f4922a2a0292 | 5 | |
| jonmarsh | 0:f4922a2a0292 | 6 | /** A class which interfaces with a Sharp Digital Distance sensor (GP2Y0D810) |
| jonmarsh | 0:f4922a2a0292 | 7 | * |
| jonmarsh | 0:f4922a2a0292 | 8 | * Example: |
| jonmarsh | 0:f4922a2a0292 | 9 | * @code |
| jonmarsh | 0:f4922a2a0292 | 10 | * |
| jonmarsh | 0:f4922a2a0292 | 11 | * @endcode |
| jonmarsh | 0:f4922a2a0292 | 12 | * |
| jonmarsh | 0:f4922a2a0292 | 13 | */ |
| jonmarsh | 0:f4922a2a0292 | 14 | |
| jonmarsh | 0:f4922a2a0292 | 15 | class SharpDigiDist100 |
| jonmarsh | 0:f4922a2a0292 | 16 | { |
| jonmarsh | 0:f4922a2a0292 | 17 | public: |
| jonmarsh | 0:f4922a2a0292 | 18 | |
| jonmarsh | 0:f4922a2a0292 | 19 | /** Create a sensor input |
| jonmarsh | 0:f4922a2a0292 | 20 | * |
| jonmarsh | 0:f4922a2a0292 | 21 | * @param pin The pin the output of the sensor is connected to |
| jonmarsh | 0:f4922a2a0292 | 22 | */ |
| jonmarsh | 0:f4922a2a0292 | 23 | |
| jonmarsh | 0:f4922a2a0292 | 24 | SharpDigiDist100(PinName pin); |
| jonmarsh | 0:f4922a2a0292 | 25 | |
| jonmarsh | 0:f4922a2a0292 | 26 | /** The enum which makes up the output |
| jonmarsh | 0:f4922a2a0292 | 27 | * |
| jonmarsh | 0:f4922a2a0292 | 28 | */ |
| jonmarsh | 0:f4922a2a0292 | 29 | |
| jonmarsh | 0:f4922a2a0292 | 30 | enum Distance |
| jonmarsh | 0:f4922a2a0292 | 31 | { |
| jonmarsh | 0:f4922a2a0292 | 32 | Near = 1, |
| jonmarsh | 0:f4922a2a0292 | 33 | Mid, |
| jonmarsh | 0:f4922a2a0292 | 34 | Far |
| jonmarsh | 0:f4922a2a0292 | 35 | }; |
| jonmarsh | 0:f4922a2a0292 | 36 | |
| jonmarsh | 0:f4922a2a0292 | 37 | /** Returns the distace as an enum |
| jonmarsh | 0:f4922a2a0292 | 38 | * |
| jonmarsh | 0:f4922a2a0292 | 39 | * @return The distance code: 1 is near, 2 is middle distance and 3 is far |
| jonmarsh | 0:f4922a2a0292 | 40 | */ |
| jonmarsh | 0:f4922a2a0292 | 41 | |
| jonmarsh | 0:f4922a2a0292 | 42 | int getDistance(); |
| jonmarsh | 0:f4922a2a0292 | 43 | |
| jonmarsh | 0:f4922a2a0292 | 44 | /** Attaches a function which is called on distance change |
| jonmarsh | 0:f4922a2a0292 | 45 | * |
| jonmarsh | 0:f4922a2a0292 | 46 | * @param A pointer to a function with params/returns: void func(void) |
| jonmarsh | 0:f4922a2a0292 | 47 | */ |
| jonmarsh | 0:f4922a2a0292 | 48 | |
| jonmarsh | 0:f4922a2a0292 | 49 | void attachOnChange(void (*ptr) (void)); |
| jonmarsh | 0:f4922a2a0292 | 50 | |
| jonmarsh | 0:f4922a2a0292 | 51 | |
| jonmarsh | 0:f4922a2a0292 | 52 | protected: |
| jonmarsh | 0:f4922a2a0292 | 53 | |
| jonmarsh | 0:f4922a2a0292 | 54 | InterruptIn intin; |
| jonmarsh | 0:f4922a2a0292 | 55 | |
| jonmarsh | 0:f4922a2a0292 | 56 | DigitalIn pinin; |
| jonmarsh | 0:f4922a2a0292 | 57 | |
| jonmarsh | 0:f4922a2a0292 | 58 | Timer timer1; |
| jonmarsh | 0:f4922a2a0292 | 59 | |
| jonmarsh | 0:f4922a2a0292 | 60 | enum Distance current; |
| jonmarsh | 0:f4922a2a0292 | 61 | |
| jonmarsh | 0:f4922a2a0292 | 62 | enum Distance last; |
| jonmarsh | 0:f4922a2a0292 | 63 | |
| jonmarsh | 0:f4922a2a0292 | 64 | void onInt(); |
| jonmarsh | 0:f4922a2a0292 | 65 | |
| jonmarsh | 0:f4922a2a0292 | 66 | Timeout timeout; |
| jonmarsh | 0:f4922a2a0292 | 67 | |
| jonmarsh | 0:f4922a2a0292 | 68 | void (*onChange) (void); |
| jonmarsh | 0:f4922a2a0292 | 69 | |
| jonmarsh | 0:f4922a2a0292 | 70 | bool onChangeAttached; |
| jonmarsh | 0:f4922a2a0292 | 71 | |
| jonmarsh | 0:f4922a2a0292 | 72 | //DigitalOut Debug; |
| jonmarsh | 0:f4922a2a0292 | 73 | }; |
| jonmarsh | 0:f4922a2a0292 | 74 | |
| jonmarsh | 0:f4922a2a0292 | 75 | #endif |