Class to read range measurements from a MaxBotix MaxSonar ranging device.
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MaxSonar.h@0:18790852a055, 2010-12-14 (annotated)
- Committer:
- mkanli
- Date:
- Tue Dec 14 12:08:17 2010 +0000
- Revision:
- 0:18790852a055
- Child:
- 1:b439ab68c8d9
Supports LV series, analog measurement, triggered or continuous. Can be expanded to support WR, WRC, XL and XL_AE series devices and PWM/Serial measurements.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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mkanli | 0:18790852a055 | 1 | /** |
mkanli | 0:18790852a055 | 2 | * @file MaxSonar.h |
mkanli | 0:18790852a055 | 3 | * @section LICENSE |
mkanli | 0:18790852a055 | 4 | * Copyright (c) 2010 Mustafa Ozgur Kanli. |
mkanli | 0:18790852a055 | 5 | * |
mkanli | 0:18790852a055 | 6 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
mkanli | 0:18790852a055 | 7 | * of this software and associated documentation files (the "Software"),to deal |
mkanli | 0:18790852a055 | 8 | * in the Software without restriction, including without limitation the rights |
mkanli | 0:18790852a055 | 9 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
mkanli | 0:18790852a055 | 10 | * copies of the Software, and to permit persons to whom the Software is |
mkanli | 0:18790852a055 | 11 | * furnished to do so, subject to the following conditions: |
mkanli | 0:18790852a055 | 12 | * |
mkanli | 0:18790852a055 | 13 | * The above copyright notice and this permission notice shall be included in |
mkanli | 0:18790852a055 | 14 | * all copies or substantial portions of the Software. |
mkanli | 0:18790852a055 | 15 | * |
mkanli | 0:18790852a055 | 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
mkanli | 0:18790852a055 | 17 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
mkanli | 0:18790852a055 | 18 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
mkanli | 0:18790852a055 | 19 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
mkanli | 0:18790852a055 | 20 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
mkanli | 0:18790852a055 | 21 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
mkanli | 0:18790852a055 | 22 | * THE SOFTWARE. |
mkanli | 0:18790852a055 | 23 | * |
mkanli | 0:18790852a055 | 24 | * @section Description |
mkanli | 0:18790852a055 | 25 | * This class provides an object to obtain range measurements from a |
mkanli | 0:18790852a055 | 26 | * Maxbotix MaxSonar ultrasonic range finder. |
mkanli | 0:18790852a055 | 27 | * |
mkanli | 0:18790852a055 | 28 | * Supported devices: |
mkanli | 0:18790852a055 | 29 | * 1) LV-MaxSonar: -EZ0 MB1000, -EZ1 MB1010, -EZ2 MB1020, |
mkanli | 0:18790852a055 | 30 | * -EZ3 MB1030, -EZ4 MB1040 |
mkanli | 0:18790852a055 | 31 | * 2) @todo add more? |
mkanli | 0:18790852a055 | 32 | * |
mkanli | 0:18790852a055 | 33 | * Supported modes: |
mkanli | 0:18790852a055 | 34 | * 1) Analog. |
mkanli | 0:18790852a055 | 35 | * 2) @todo add more? |
mkanli | 0:18790852a055 | 36 | */ |
mkanli | 0:18790852a055 | 37 | #ifndef MAXSONAR_H_ |
mkanli | 0:18790852a055 | 38 | #define MAXSONAR_H_ |
mkanli | 0:18790852a055 | 39 | |
mkanli | 0:18790852a055 | 40 | #include "mbed.h" |
mkanli | 0:18790852a055 | 41 | |
mkanli | 0:18790852a055 | 42 | //! Define types of MaxSonar devices. |
mkanli | 0:18790852a055 | 43 | enum MSType { |
mkanli | 0:18790852a055 | 44 | MS_LV = 0, |
mkanli | 0:18790852a055 | 45 | MS_WR, //!< Not supported yet. |
mkanli | 0:18790852a055 | 46 | MS_WRC, //!< Not supported yet. |
mkanli | 0:18790852a055 | 47 | MS_XL, //!< Not supported yet. |
mkanli | 0:18790852a055 | 48 | MS_XL_AE //!< Not supported yet. |
mkanli | 0:18790852a055 | 49 | }; |
mkanli | 0:18790852a055 | 50 | |
mkanli | 0:18790852a055 | 51 | //! Define units for returning range. |
mkanli | 0:18790852a055 | 52 | enum MSUnits { |
mkanli | 0:18790852a055 | 53 | MS_CM = 0, //!< centimeters. |
mkanli | 0:18790852a055 | 54 | MS_INCH //!< inches. |
mkanli | 0:18790852a055 | 55 | }; |
mkanli | 0:18790852a055 | 56 | |
mkanli | 0:18790852a055 | 57 | //! Define access mode for obtaining range measurement. |
mkanli | 0:18790852a055 | 58 | enum MSMode { |
mkanli | 0:18790852a055 | 59 | MS_ANALOG = 0, |
mkanli | 0:18790852a055 | 60 | MS_SERIAL, //!< Not supported yet. |
mkanli | 0:18790852a055 | 61 | MS_PWM //!< Not supported yet. |
mkanli | 0:18790852a055 | 62 | }; |
mkanli | 0:18790852a055 | 63 | |
mkanli | 0:18790852a055 | 64 | /** |
mkanli | 0:18790852a055 | 65 | * Class to read range measurements from MaxBotix MaxSonar |
mkanli | 0:18790852a055 | 66 | * range-finder devices. |
mkanli | 0:18790852a055 | 67 | * |
mkanli | 0:18790852a055 | 68 | * Example |
mkanli | 0:18790852a055 | 69 | * @code |
mkanli | 0:18790852a055 | 70 | * #include "mbed.h" |
mkanli | 0:18790852a055 | 71 | * #include "MaxSonar.h" |
mkanli | 0:18790852a055 | 72 | * |
mkanli | 0:18790852a055 | 73 | * int main() { |
mkanli | 0:18790852a055 | 74 | * MaxSonar *range; |
mkanli | 0:18790852a055 | 75 | * float r; |
mkanli | 0:18790852a055 | 76 | * |
mkanli | 0:18790852a055 | 77 | * // Create and configure object for 3.3V powered LV-series device, |
mkanli | 0:18790852a055 | 78 | * // accessed with analog reads (in cm) on p16, triggered by p7. |
mkanli | 0:18790852a055 | 79 | * range = new MaxSonar(MS_LV, MS_ANALOG, p7, p16); |
mkanli | 0:18790852a055 | 80 | * range->setVoltage(3.3); |
mkanli | 0:18790852a055 | 81 | * range->setUnits(MS_CM); |
mkanli | 0:18790852a055 | 82 | * |
mkanli | 0:18790852a055 | 83 | * while(1) { |
mkanli | 0:18790852a055 | 84 | * // Trigger read, wait 49ms until ranger finder has |
mkanli | 0:18790852a055 | 85 | * // finished, then read. |
mkanli | 0:18790852a055 | 86 | * range->triggerRead(); |
mkanli | 0:18790852a055 | 87 | * wait_ms(49); |
mkanli | 0:18790852a055 | 88 | * r = range->read(); |
mkanli | 0:18790852a055 | 89 | * |
mkanli | 0:18790852a055 | 90 | * // Print and delay 0.5s. |
mkanli | 0:18790852a055 | 91 | * printf("Range: %.3f cm\n", r); |
mkanli | 0:18790852a055 | 92 | * wait(0.5); |
mkanli | 0:18790852a055 | 93 | * } |
mkanli | 0:18790852a055 | 94 | * @endcode |
mkanli | 0:18790852a055 | 95 | */ |
mkanli | 0:18790852a055 | 96 | class MaxSonar { |
mkanli | 0:18790852a055 | 97 | |
mkanli | 0:18790852a055 | 98 | private: |
mkanli | 0:18790852a055 | 99 | enum MSType type; //!< Device type. |
mkanli | 0:18790852a055 | 100 | enum MSMode mode; //!< Range reading mode. |
mkanli | 0:18790852a055 | 101 | enum MSUnits units; //!< Range units. |
mkanli | 0:18790852a055 | 102 | float voltage; //!< Supply/reference voltage (V). |
mkanli | 0:18790852a055 | 103 | int analog_scale; //!< resolution = voltage/scale. |
mkanli | 0:18790852a055 | 104 | float analog_resolution; //!< V/inch to compute range. |
mkanli | 0:18790852a055 | 105 | AnalogIn *ain; //!< For analog reads. |
mkanli | 0:18790852a055 | 106 | DigitalOut *rx_req; //!< For triggered reads (PWM or AIN). |
mkanli | 0:18790852a055 | 107 | |
mkanli | 0:18790852a055 | 108 | public: |
mkanli | 0:18790852a055 | 109 | /** |
mkanli | 0:18790852a055 | 110 | * Constructor. |
mkanli | 0:18790852a055 | 111 | * |
mkanli | 0:18790852a055 | 112 | * @param type The type of device. |
mkanli | 0:18790852a055 | 113 | * @param mode The access mode. |
mkanli | 0:18790852a055 | 114 | * @param pin1 MS_ANALOG: Pin connected to RX of device. |
mkanli | 0:18790852a055 | 115 | * MS_SERIAL: Pin connected to RX of device. |
mkanli | 0:18790852a055 | 116 | * MS_PWM: Pin connected to RX of device. |
mkanli | 0:18790852a055 | 117 | * @param pin2 MS_ANALOG: Pin connected to AN of device. |
mkanli | 0:18790852a055 | 118 | * MS_SERIAL: Pin connected to TX of device. |
mkanli | 0:18790852a055 | 119 | * MS_PWM: Pin connected to PW of device. |
mkanli | 0:18790852a055 | 120 | * @note pin1 may be NC if only continuous reading is desired |
mkanli | 0:18790852a055 | 121 | * when in analog or pwm mode. |
mkanli | 0:18790852a055 | 122 | * @note Default units are in cm (MS_CM). |
mkanli | 0:18790852a055 | 123 | */ |
mkanli | 0:18790852a055 | 124 | MaxSonar(enum MSType type, enum MSMode mode, |
mkanli | 0:18790852a055 | 125 | PinName pin1, PinName pin2); |
mkanli | 0:18790852a055 | 126 | |
mkanli | 0:18790852a055 | 127 | /** |
mkanli | 0:18790852a055 | 128 | * Destructor. |
mkanli | 0:18790852a055 | 129 | */ |
mkanli | 0:18790852a055 | 130 | ~MaxSonar(void); |
mkanli | 0:18790852a055 | 131 | |
mkanli | 0:18790852a055 | 132 | /** |
mkanli | 0:18790852a055 | 133 | * Set the units for reading range value. Default cm (MS_CM). |
mkanli | 0:18790852a055 | 134 | * |
mkanli | 0:18790852a055 | 135 | * @param units The specified units option. |
mkanli | 0:18790852a055 | 136 | */ |
mkanli | 0:18790852a055 | 137 | void setUnits(enum MSUnits units); |
mkanli | 0:18790852a055 | 138 | |
mkanli | 0:18790852a055 | 139 | /** |
mkanli | 0:18790852a055 | 140 | * Specify the supply voltage used by the device. |
mkanli | 0:18790852a055 | 141 | * |
mkanli | 0:18790852a055 | 142 | * @param voltage The specified voltage (default 3.3) |
mkanli | 0:18790852a055 | 143 | * |
mkanli | 0:18790852a055 | 144 | * @note This is important for correct conversion of the voltage |
mkanli | 0:18790852a055 | 145 | * from pin AN of device into the range value. |
mkanli | 0:18790852a055 | 146 | */ |
mkanli | 0:18790852a055 | 147 | void setVoltage(float voltage); |
mkanli | 0:18790852a055 | 148 | |
mkanli | 0:18790852a055 | 149 | /** |
mkanli | 0:18790852a055 | 150 | * Trigger a reading of range. The reading will be ready 49 ms |
mkanli | 0:18790852a055 | 151 | * after the trigger, accessable by the read() function. |
mkanli | 0:18790852a055 | 152 | * |
mkanli | 0:18790852a055 | 153 | * @param none |
mkanli | 0:18790852a055 | 154 | * |
mkanli | 0:18790852a055 | 155 | * @note Triggered reading is only possible if a pin connected to |
mkanli | 0:18790852a055 | 156 | * RX of the device was specified when calling the constructor. |
mkanli | 0:18790852a055 | 157 | */ |
mkanli | 0:18790852a055 | 158 | void triggerRead(void); |
mkanli | 0:18790852a055 | 159 | |
mkanli | 0:18790852a055 | 160 | /** |
mkanli | 0:18790852a055 | 161 | * Read range value. |
mkanli | 0:18790852a055 | 162 | * |
mkanli | 0:18790852a055 | 163 | * @return Range value in the set units (default cm). |
mkanli | 0:18790852a055 | 164 | */ |
mkanli | 0:18790852a055 | 165 | float read(void); |
mkanli | 0:18790852a055 | 166 | }; |
mkanli | 0:18790852a055 | 167 | |
mkanli | 0:18790852a055 | 168 | #endif |