RangeFinder.h

00001 /* Copyright (c) 2012 Nick Ryder, University of Oxford
00002  * nick.ryder@physics.ox.ac.uk
00003  *
00004  *  MIT License
00005  *
00006  * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
00007  * and associated documentation files (the "Software"), to deal in the Software without restriction, 
00008  * including without limitation the rights to use, copy, modify, merge, publish, distribute, 
00009  * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in all copies or 
00013  * substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
00016  * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
00017  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
00018  * DAMAGES OR OTHER 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 THE SOFTWARE.
00020  */
00021   
00022 #ifndef MBED_RANGEFINDER_H
00023 #define MBED_RANGEFINDER_H
00024 
00025 #include "Pulse.h"
00026 
00027 /** Range Finder class
00028 */
00029 
00030 class RangeFinder   {
00031     public:
00032         /** Create a RangeFinder object
00033         * @param pin Digital I/O pin the range finder is connected to.
00034         * @param pulsetime Time of pulse to send to the rangefinder to trigger a measurement, in microseconds.
00035         * @param scale Scaling of the range finder's output pulse from microseconds to metres.
00036         * @param timeout Time to wait for a pulse from the range finder before giving up.
00037         */
00038         RangeFinder(PinName pin, int pulsetime, float scale, int timeout);
00039         ~RangeFinder();
00040         /** Return the distance to the nearest object, or -1.0 if reading the pulse timed out.
00041         */
00042         float read_m();
00043     private:
00044         PulseInOut pio;
00045         float scale;
00046         int pulsetime, timeout;
00047 };
00048 
00049 #endif