Diff: MaxSonar.h

Revision:

0:18790852a055

Child:

1:b439ab68c8d9

diff -r 000000000000 -r 18790852a055 MaxSonar.h
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+++ b/MaxSonar.h	Tue Dec 14 12:08:17 2010 +0000
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+/**
+ * @file MaxSonar.h
+ * @section LICENSE
+ * Copyright (c) 2010 Mustafa Ozgur Kanli.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"),to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section Description
+ * This class provides an object to obtain range measurements from a
+ * Maxbotix MaxSonar ultrasonic range finder.
+ *
+ * Supported devices:
+ * 1) LV-MaxSonar: -EZ0 MB1000, -EZ1 MB1010, -EZ2 MB1020,
+ *                 -EZ3 MB1030, -EZ4 MB1040
+ * 2) @todo add more?
+ *
+ * Supported modes:
+ * 1) Analog.
+ * 2) @todo add more?
+ */
+#ifndef MAXSONAR_H_
+#define MAXSONAR_H_
+
+#include "mbed.h"
+
+//! Define types of MaxSonar devices.
+enum MSType {
+    MS_LV = 0,
+    MS_WR,          //!< Not supported yet.
+    MS_WRC,         //!< Not supported yet.
+    MS_XL,          //!< Not supported yet.
+    MS_XL_AE        //!< Not supported yet.
+};
+
+//! Define units for returning range.
+enum MSUnits {
+    MS_CM = 0,      //!< centimeters.
+    MS_INCH         //!< inches.
+};
+
+//! Define access mode for obtaining range measurement.
+enum MSMode {
+    MS_ANALOG = 0,
+    MS_SERIAL,      //!< Not supported yet.
+    MS_PWM          //!< Not supported yet.
+};
+
+/**
+ * Class to read range measurements from MaxBotix MaxSonar
+ * range-finder devices.
+ *
+ * Example
+ * @code
+ * #include "mbed.h"
+ * #include "MaxSonar.h"
+ * 
+ * int main() {
+ *     MaxSonar *range;
+ *     float r;
+ *
+ *     // Create and configure object for 3.3V powered LV-series device, 
+ *     // accessed with analog reads (in cm) on p16, triggered by p7.
+ *     range = new MaxSonar(MS_LV, MS_ANALOG, p7, p16);
+ *     range->setVoltage(3.3);
+ *     range->setUnits(MS_CM);
+ *
+ *     while(1) {
+ *         // Trigger read, wait 49ms until ranger finder has
+ *         // finished, then read. 
+ *         range->triggerRead();
+ *         wait_ms(49);
+ *         r = range->read();
+ *       
+ *         // Print and delay 0.5s.
+ *         printf("Range: %.3f cm\n", r);
+ *         wait(0.5);
+ *     }
+ * @endcode 
+ */
+class MaxSonar {
+
+private:
+    enum MSType type;           //!< Device type. 
+    enum MSMode mode;           //!< Range reading mode.
+    enum MSUnits units;         //!< Range units.
+    float voltage;              //!< Supply/reference voltage (V).
+    int analog_scale;           //!< resolution = voltage/scale.
+    float analog_resolution;    //!< V/inch to compute range.
+    AnalogIn *ain;              //!< For analog reads.
+    DigitalOut *rx_req;         //!< For triggered reads (PWM or AIN).
+
+public:
+    /**
+     * Constructor.
+     *
+     * @param   type    The type of device.
+     * @param   mode    The access mode.
+     * @param   pin1    MS_ANALOG: Pin connected to RX of device.
+     *                  MS_SERIAL: Pin connected to RX of device.
+     *                  MS_PWM: Pin connected to RX of device.
+     * @param   pin2    MS_ANALOG: Pin connected to AN of device.
+     *                  MS_SERIAL: Pin connected to TX of device.
+     *                  MS_PWM: Pin connected to PW of device.
+     * @note    pin1 may be NC if only continuous reading is desired
+     *          when in analog or pwm mode.
+     * @note    Default units are in cm (MS_CM).
+     */
+    MaxSonar(enum MSType type, enum MSMode mode,
+             PinName pin1, PinName pin2);
+
+    /**
+     * Destructor.
+     */
+    ~MaxSonar(void);
+
+    /**
+     * Set the units for reading range value. Default cm (MS_CM).
+     *
+     * @param   units   The specified units option.
+     */
+    void setUnits(enum MSUnits units);
+
+    /**
+     * Specify the supply voltage used by the device. 
+     * 
+     * @param   voltage The specified voltage (default 3.3)
+     *
+     * @note    This is important for correct conversion of the voltage 
+     *          from pin AN of device into the range value.
+     */
+    void setVoltage(float voltage);
+
+    /**
+     * Trigger a reading of range. The reading will be ready 49 ms
+     * after the trigger, accessable by the read() function. 
+     * 
+     * @param   none
+     *
+     * @note    Triggered reading is only possible if a pin connected to 
+     *          RX of the device was specified when calling the constructor. 
+     */
+    void triggerRead(void);
+
+    /**
+     * Read range value.
+     *
+     * @return  Range value in the set units (default cm).
+     */
+    float read(void);
+};
+
+#endif