Giles Barton-Owen
/
MbedRanger
Allows the M3Pi to be used as a Sumo robot, using the sharp 100 distance sensors on the front.
SharpDigiDist100/SharpDigiDist100.h@0:342c14fb10c0, 2012-03-14 (annotated)
- Committer:
- p07gbar
- Date:
- Wed Mar 14 20:31:09 2012 +0000
- Revision:
- 0:342c14fb10c0
First upload
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
p07gbar | 0:342c14fb10c0 | 1 | #ifndef SHARPDIGIDIST100_H |
p07gbar | 0:342c14fb10c0 | 2 | #define SHARPDIGIDIST100_H |
p07gbar | 0:342c14fb10c0 | 3 | |
p07gbar | 0:342c14fb10c0 | 4 | #include "mbed.h" |
p07gbar | 0:342c14fb10c0 | 5 | |
p07gbar | 0:342c14fb10c0 | 6 | /** A class which interfaces with a Sharp Digital Distance sensor (GP2Y0D810) |
p07gbar | 0:342c14fb10c0 | 7 | * |
p07gbar | 0:342c14fb10c0 | 8 | * Example: |
p07gbar | 0:342c14fb10c0 | 9 | * @code |
p07gbar | 0:342c14fb10c0 | 10 | * |
p07gbar | 0:342c14fb10c0 | 11 | * @endcode |
p07gbar | 0:342c14fb10c0 | 12 | * |
p07gbar | 0:342c14fb10c0 | 13 | */ |
p07gbar | 0:342c14fb10c0 | 14 | |
p07gbar | 0:342c14fb10c0 | 15 | class SharpDigiDist100 |
p07gbar | 0:342c14fb10c0 | 16 | { |
p07gbar | 0:342c14fb10c0 | 17 | public: |
p07gbar | 0:342c14fb10c0 | 18 | |
p07gbar | 0:342c14fb10c0 | 19 | /** Create a sensor input |
p07gbar | 0:342c14fb10c0 | 20 | * |
p07gbar | 0:342c14fb10c0 | 21 | * @param pin The pin the output of the sensor is connected to |
p07gbar | 0:342c14fb10c0 | 22 | */ |
p07gbar | 0:342c14fb10c0 | 23 | |
p07gbar | 0:342c14fb10c0 | 24 | SharpDigiDist100(PinName pin); |
p07gbar | 0:342c14fb10c0 | 25 | |
p07gbar | 0:342c14fb10c0 | 26 | /** The enum which makes up the output |
p07gbar | 0:342c14fb10c0 | 27 | * |
p07gbar | 0:342c14fb10c0 | 28 | */ |
p07gbar | 0:342c14fb10c0 | 29 | |
p07gbar | 0:342c14fb10c0 | 30 | enum Distance |
p07gbar | 0:342c14fb10c0 | 31 | { |
p07gbar | 0:342c14fb10c0 | 32 | Near = 1, |
p07gbar | 0:342c14fb10c0 | 33 | Mid, |
p07gbar | 0:342c14fb10c0 | 34 | Far |
p07gbar | 0:342c14fb10c0 | 35 | }; |
p07gbar | 0:342c14fb10c0 | 36 | |
p07gbar | 0:342c14fb10c0 | 37 | /** Returns the distace as an enum |
p07gbar | 0:342c14fb10c0 | 38 | * |
p07gbar | 0:342c14fb10c0 | 39 | * @return The distance code: 1 is near, 2 is middle distance and 3 is far |
p07gbar | 0:342c14fb10c0 | 40 | */ |
p07gbar | 0:342c14fb10c0 | 41 | |
p07gbar | 0:342c14fb10c0 | 42 | int getDistance(); |
p07gbar | 0:342c14fb10c0 | 43 | |
p07gbar | 0:342c14fb10c0 | 44 | /** Attaches a function which is called on distance change |
p07gbar | 0:342c14fb10c0 | 45 | * |
p07gbar | 0:342c14fb10c0 | 46 | * @param A pointer to a function with params/returns: void func(void) |
p07gbar | 0:342c14fb10c0 | 47 | */ |
p07gbar | 0:342c14fb10c0 | 48 | |
p07gbar | 0:342c14fb10c0 | 49 | void attachOnChange(void (*ptr) (void)); |
p07gbar | 0:342c14fb10c0 | 50 | |
p07gbar | 0:342c14fb10c0 | 51 | |
p07gbar | 0:342c14fb10c0 | 52 | protected: |
p07gbar | 0:342c14fb10c0 | 53 | |
p07gbar | 0:342c14fb10c0 | 54 | InterruptIn intin; |
p07gbar | 0:342c14fb10c0 | 55 | |
p07gbar | 0:342c14fb10c0 | 56 | DigitalIn pinin; |
p07gbar | 0:342c14fb10c0 | 57 | |
p07gbar | 0:342c14fb10c0 | 58 | Timer timer1; |
p07gbar | 0:342c14fb10c0 | 59 | |
p07gbar | 0:342c14fb10c0 | 60 | enum Distance current; |
p07gbar | 0:342c14fb10c0 | 61 | |
p07gbar | 0:342c14fb10c0 | 62 | enum Distance last; |
p07gbar | 0:342c14fb10c0 | 63 | |
p07gbar | 0:342c14fb10c0 | 64 | void onInt(); |
p07gbar | 0:342c14fb10c0 | 65 | |
p07gbar | 0:342c14fb10c0 | 66 | Timeout timeout; |
p07gbar | 0:342c14fb10c0 | 67 | |
p07gbar | 0:342c14fb10c0 | 68 | void (*onChange) (void); |
p07gbar | 0:342c14fb10c0 | 69 | |
p07gbar | 0:342c14fb10c0 | 70 | bool onChangeAttached; |
p07gbar | 0:342c14fb10c0 | 71 | |
p07gbar | 0:342c14fb10c0 | 72 | //DigitalOut Debug; |
p07gbar | 0:342c14fb10c0 | 73 | }; |
p07gbar | 0:342c14fb10c0 | 74 | |
p07gbar | 0:342c14fb10c0 | 75 | #endif |