Shuto Naruse / Mbed 2 deprecated eurobot_2011_main

Dependencies:   mbed PID

SRF05/SRF05.cpp@0:c8c04928d025, 2012-02-29 (annotated)

Committer:
narshu
Date:
Wed Feb 29 17:50:49 2012 +0000
Revision:
0:c8c04928d025
Primary Robot with Sonar function - needs PID tuning for motor control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 0:c8c04928d025 1 /* mbed SRF05 Ultrasonic Rangefiner Library
narshu 0:c8c04928d025 2 * Copyright (c) 2007-2010, cstyles, sford
narshu 0:c8c04928d025 3 *
narshu 0:c8c04928d025 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
narshu 0:c8c04928d025 5 * of this software and associated documentation files (the "Software"), to deal
narshu 0:c8c04928d025 6 * in the Software without restriction, including without limitation the rights
narshu 0:c8c04928d025 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
narshu 0:c8c04928d025 8 * copies of the Software, and to permit persons to whom the Software is
narshu 0:c8c04928d025 9 * furnished to do so, subject to the following conditions:
narshu 0:c8c04928d025 10 *
narshu 0:c8c04928d025 11 * The above copyright notice and this permission notice shall be included in
narshu 0:c8c04928d025 12 * all copies or substantial portions of the Software.
narshu 0:c8c04928d025 13 *
narshu 0:c8c04928d025 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
narshu 0:c8c04928d025 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
narshu 0:c8c04928d025 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
narshu 0:c8c04928d025 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
narshu 0:c8c04928d025 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
narshu 0:c8c04928d025 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
narshu 0:c8c04928d025 20 * THE SOFTWARE.
narshu 0:c8c04928d025 21 */
narshu 0:c8c04928d025 22
narshu 0:c8c04928d025 23 #include "SRF05.h"
narshu 0:c8c04928d025 24 #include "mbed.h"
narshu 0:c8c04928d025 25
narshu 0:c8c04928d025 26 SRF05::SRF05(PinName trigger, PinName echo)
narshu 0:c8c04928d025 27 : _trigger(trigger), _echo(echo) {
narshu 0:c8c04928d025 28
narshu 0:c8c04928d025 29 // Attach interrupts
narshu 0:c8c04928d025 30 _echo.rise(this, &SRF05::_rising);
narshu 0:c8c04928d025 31 _echo.fall(this, &SRF05::_falling);
narshu 0:c8c04928d025 32 //Interrupts every 100ms
narshu 0:c8c04928d025 33 // _ticker.attach(this, &SRF05::_startRange, 0.1);
narshu 0:c8c04928d025 34 }
narshu 0:c8c04928d025 35
narshu 0:c8c04928d025 36 //void SRF05::_startRange() {
narshu 0:c8c04928d025 37 // // send a trigger pulse, 10uS long
narshu 0:c8c04928d025 38 // _trigger = 1;
narshu 0:c8c04928d025 39 // wait_us (10);
narshu 0:c8c04928d025 40 // _trigger = 0;
narshu 0:c8c04928d025 41 //}
narshu 0:c8c04928d025 42
narshu 0:c8c04928d025 43 void SRF05::trig(void) {
narshu 0:c8c04928d025 44 // send a trigger pulse, 10uS long
narshu 0:c8c04928d025 45 _trigger = 1;
narshu 0:c8c04928d025 46 wait_us (10);
narshu 0:c8c04928d025 47 _trigger = 0;
narshu 0:c8c04928d025 48 }
narshu 0:c8c04928d025 49
narshu 0:c8c04928d025 50 // Clear and start the timer at the begining of the echo pulse
narshu 0:c8c04928d025 51 void SRF05::_rising(void) {
narshu 0:c8c04928d025 52 _timer.reset();
narshu 0:c8c04928d025 53 _timer.start();
narshu 0:c8c04928d025 54 }
narshu 0:c8c04928d025 55
narshu 0:c8c04928d025 56 // Stop and read the timer at the end of the pulse
narshu 0:c8c04928d025 57 void SRF05::_falling(void) {
narshu 0:c8c04928d025 58 _timer.stop();
narshu 0:c8c04928d025 59 _dist = _timer.read_us()/29.0;
narshu 0:c8c04928d025 60 }
narshu 0:c8c04928d025 61
narshu 0:c8c04928d025 62 float SRF05::read(void) {
narshu 0:c8c04928d025 63 // SRF05::_startRange();
narshu 0:c8c04928d025 64 // wait_ms(50);
narshu 0:c8c04928d025 65 // spin until there is a good value
narshu 0:c8c04928d025 66 return (_dist);
narshu 0:c8c04928d025 67 }
narshu 0:c8c04928d025 68
narshu 0:c8c04928d025 69 SRF05::operator float() {
narshu 0:c8c04928d025 70 return read();
narshu 0:c8c04928d025 71 }