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SRF05.cpp
00001 /* mbed SRF05 Ultrasonic Rangefiner Library 00002 * Copyright (c) 2007-2010, cstyles, sford 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy 00005 * of this software and associated documentation files (the "Software"), to deal 00006 * in the Software without restriction, including without limitation the rights 00007 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 * copies of the Software, and to permit persons to whom the Software is 00009 * furnished to do so, subject to the following conditions: 00010 * 00011 * The above copyright notice and this permission notice shall be included in 00012 * all copies or substantial portions of the Software. 00013 * 00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00020 * THE SOFTWARE. 00021 */ 00022 00023 #include "SRF05.h" 00024 #include "mbed.h" 00025 00026 SRF05::SRF05(PinName trigger, PinName echo) 00027 : _trigger(trigger), _echo(echo) { 00028 00029 // Attach interrupts 00030 _echo.rise(this, &SRF05::_rising); 00031 _echo.fall(this, &SRF05::_falling); 00032 //Interrupts every 100ms 00033 // _ticker.attach(this, &SRF05::_startRange, 0.1); 00034 } 00035 00036 //void SRF05::_startRange() { 00037 // // send a trigger pulse, 10uS long 00038 // _trigger = 1; 00039 // wait_us (10); 00040 // _trigger = 0; 00041 //} 00042 00043 void SRF05::trig(void) { 00044 // send a trigger pulse, 10uS long 00045 _trigger = 1; 00046 wait_us (10); 00047 _trigger = 0; 00048 } 00049 00050 // Clear and start the timer at the begining of the echo pulse 00051 void SRF05::_rising(void) { 00052 _timer.reset(); 00053 _timer.start(); 00054 } 00055 00056 // Stop and read the timer at the end of the pulse 00057 void SRF05::_falling(void) { 00058 _timer.stop(); 00059 _dist = _timer.read_us()/29.0; 00060 } 00061 00062 float SRF05::read(void) { 00063 // SRF05::_startRange(); 00064 // wait_ms(50); 00065 // spin until there is a good value 00066 return (_dist); 00067 } 00068 00069 SRF05::operator float() { 00070 return read(); 00071 }
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