Works with interrupts
Fork of HC_SR04_Ultrasonic_Library by
ultrasonic.h@5:36fcbbb149d8, 2017-12-26 (annotated)
- Committer:
- maskas
- Date:
- Tue Dec 26 09:28:16 2017 +0000
- Revision:
- 5:36fcbbb149d8
- Parent:
- 2:cc1143d36567
add missing "start" method to the first constructor.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ejteb | 0:6aa04a8c8d4c | 1 | #ifndef MBED_ULTRASONIC_H |
ejteb | 0:6aa04a8c8d4c | 2 | #define MBED_ULTRASONIC_H |
ejteb | 0:6aa04a8c8d4c | 3 | |
ejteb | 0:6aa04a8c8d4c | 4 | #include "mbed.h" |
ejteb | 0:6aa04a8c8d4c | 5 | |
ejteb | 0:6aa04a8c8d4c | 6 | class ultrasonic |
ejteb | 0:6aa04a8c8d4c | 7 | { |
ejteb | 0:6aa04a8c8d4c | 8 | public: |
ejteb | 2:cc1143d36567 | 9 | /**iniates the class with the specified trigger pin, echo pin, update speed and timeout**/ |
ejteb | 0:6aa04a8c8d4c | 10 | ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout); |
ejteb | 2:cc1143d36567 | 11 | /**iniates the class with the specified trigger pin, echo pin, update speed, timeout and method to call when the distance changes**/ |
ejteb | 2:cc1143d36567 | 12 | ultrasonic(PinName trigPin, PinName echoPin, float updateSpeed, float timeout, void onUpdate(int)); |
ejteb | 2:cc1143d36567 | 13 | /** returns the last measured distance**/ |
ejteb | 0:6aa04a8c8d4c | 14 | int getCurrentDistance(void); |
ejteb | 2:cc1143d36567 | 15 | /**pauses measuring the distance**/ |
ejteb | 0:6aa04a8c8d4c | 16 | void pauseUpdates(void); |
ejteb | 2:cc1143d36567 | 17 | /**starts mesuring the distance**/ |
ejteb | 0:6aa04a8c8d4c | 18 | void startUpdates(void); |
ejteb | 2:cc1143d36567 | 19 | /**attachs the method to be called when the distances changes**/ |
ejteb | 0:6aa04a8c8d4c | 20 | void attachOnUpdate(void method(int)); |
ejteb | 2:cc1143d36567 | 21 | /**changes the speed at which updates are made**/ |
ejteb | 0:6aa04a8c8d4c | 22 | void changeUpdateSpeed(float updateSpeed); |
ejteb | 2:cc1143d36567 | 23 | /**gets whether the distance has been changed since the last call of isUpdated() or checkDistance()**/ |
ejteb | 0:6aa04a8c8d4c | 24 | int isUpdated(void); |
ejteb | 2:cc1143d36567 | 25 | /**gets the speed at which updates are made**/ |
ejteb | 2:cc1143d36567 | 26 | float getUpdateSpeed(void); |
ejteb | 2:cc1143d36567 | 27 | /**call this as often as possible in your code, eg. at the end of a while(1) loop, |
ejteb | 2:cc1143d36567 | 28 | and it will check whether the method you have attached needs to be called**/ |
ejteb | 2:cc1143d36567 | 29 | void checkDistance(void); |
ejteb | 0:6aa04a8c8d4c | 30 | private: |
ejteb | 0:6aa04a8c8d4c | 31 | DigitalOut _trig; |
ejteb | 0:6aa04a8c8d4c | 32 | InterruptIn _echo; |
ejteb | 0:6aa04a8c8d4c | 33 | Timer _t; |
ejteb | 0:6aa04a8c8d4c | 34 | Timeout _tout; |
ejteb | 0:6aa04a8c8d4c | 35 | int _distance; |
ejteb | 0:6aa04a8c8d4c | 36 | float _updateSpeed; |
ejteb | 0:6aa04a8c8d4c | 37 | int start; |
ejteb | 0:6aa04a8c8d4c | 38 | int end; |
ejteb | 0:6aa04a8c8d4c | 39 | volatile int done; |
ejteb | 0:6aa04a8c8d4c | 40 | void (*_onUpdateMethod)(int); |
ejteb | 0:6aa04a8c8d4c | 41 | void _startT(void); |
ejteb | 0:6aa04a8c8d4c | 42 | void _updateDist(void); |
ejteb | 0:6aa04a8c8d4c | 43 | void _startTrig(void); |
ejteb | 0:6aa04a8c8d4c | 44 | float _timeout; |
ejteb | 0:6aa04a8c8d4c | 45 | int d; |
ejteb | 0:6aa04a8c8d4c | 46 | }; |
ejteb | 0:6aa04a8c8d4c | 47 | #endif |