Shuto Naruse
/
Eurobot_2012_Secondary
Eurobot_2012_Secondary
Kalman/Sonar/RFSRF05.h
- Committer:
- narshu
- Date:
- 2012-04-20
- Revision:
- 0:fbfafa6bf5f9
File content as of revision 0:fbfafa6bf5f9:
#ifndef MBED_RFSRF05_H #define MBED_RFSRF05_H #include "mbed.h" #include "RF12B.h" #define CODE0 0x22 #define CODE1 0x44 #define CODE2 0x88 /* SAMPLE IMPLEMENTATION! RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9); void callbinmain(int num, float dist) { //Here is where you deal with your brand new reading ;D } int main() { pc.printf("Hello World of RobotSonar!\r\n"); my_srf.callbackfunc = callbinmain; while (1); } */ class DummyCT; class RFSRF05 { public: RFSRF05( PinName trigger, PinName echo0, PinName echo1, PinName echo2, PinName echo3, PinName echo4, PinName echo5, PinName SDI, PinName SDO, PinName SCK, PinName NCS, PinName NIRQ); /** A non-blocking function that will return the last measurement * * @returns floating point representation of distance in mm */ float read0(); float read1(); float read2(); float read(unsigned int beaconnum); /** A assigns a callback function when a new reading is available **/ void (*callbackfunc)(int beaconnum, float distance); DummyCT* callbackobj; void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance); //triggers a read /** A short hand way of using the read function */ //operator float(); private : RF12B _rf; DigitalOut _trigger; InterruptIn _echo0; InterruptIn _echo1; InterruptIn _echo2; InterruptIn _echo3; InterruptIn _echo4; InterruptIn _echo5; Timer _timer; Ticker _ticker; void _startRange(); void _rising (void); void _falling (void); float _dist[3]; char _code[3]; int _beacon_counter; bool ValidPulse; bool expValidPulse; }; #endif