Shuto Naruse
/
eurobot_2011_main
SRF05/SRF05.cpp
- Committer:
- narshu
- Date:
- 2012-02-29
- Revision:
- 0:c8c04928d025
File content as of revision 0:c8c04928d025:
/* mbed SRF05 Ultrasonic Rangefiner Library * Copyright (c) 2007-2010, cstyles, sford * * 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. */ #include "SRF05.h" #include "mbed.h" SRF05::SRF05(PinName trigger, PinName echo) : _trigger(trigger), _echo(echo) { // Attach interrupts _echo.rise(this, &SRF05::_rising); _echo.fall(this, &SRF05::_falling); //Interrupts every 100ms // _ticker.attach(this, &SRF05::_startRange, 0.1); } //void SRF05::_startRange() { // // send a trigger pulse, 10uS long // _trigger = 1; // wait_us (10); // _trigger = 0; //} void SRF05::trig(void) { // send a trigger pulse, 10uS long _trigger = 1; wait_us (10); _trigger = 0; } // Clear and start the timer at the begining of the echo pulse void SRF05::_rising(void) { _timer.reset(); _timer.start(); } // Stop and read the timer at the end of the pulse void SRF05::_falling(void) { _timer.stop(); _dist = _timer.read_us()/29.0; } float SRF05::read(void) { // SRF05::_startRange(); // wait_ms(50); // spin until there is a good value return (_dist); } SRF05::operator float() { return read(); }