test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
hcsr04.h
00001 /* Copyright (c) 2013 Prabhu Desai 00002 * pdtechworld@gmail.com 00003 * 00004 * 00005 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 00006 * and associated documentation files (the "Software"), to deal in the Software without restriction, 00007 * including without limitation the rights to use, copy, modify, merge, publish, distribute, 00008 * sublicense, and/or sell 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 all copies or 00012 * substantial portions of the Software. 00013 * 00014 * For more details on the sensor : 00015 * http://www.elecfreaks.com/store/hcsr04-ultrasonic-sensor-distance-measuring-module-p-91.html?zenid=pgm8pgnvaodbe36dibq5s1soi3 00016 * 00017 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 00018 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 00019 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 00020 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00021 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00022 */ 00023 00024 #ifndef MBED_HCSR04_H 00025 #define MBED_HCSR04_H 00026 00027 #include "mbed.h" 00028 00029 /** HCSR04 Class(es) 00030 */ 00031 00032 class HCSR04 00033 { 00034 public: 00035 /** Create a HCSR04 object connected to the specified pin 00036 * @param pin i/o pin to connect to 00037 */ 00038 HCSR04(PinName TrigPin,PinName EchoPin); 00039 ~HCSR04(); 00040 00041 /** Return the distance from obstacle in cm 00042 * @param distance in cms and returns -1, in case of failure 00043 */ 00044 float get_dist_cm(void); 00045 /** Return the pulse duration equal to sonic waves travelling to obstacle and back to receiver. 00046 * @param pulse duration in microseconds. 00047 */ 00048 float get_pulse_us(void); 00049 /** Generates the trigger pulse of 10us on the trigger PIN. 00050 */ 00051 void start(void ); 00052 void isr_rise(void); 00053 void isr_fall(void); 00054 void fall (void (*fptr)(void)); 00055 void rise (void (*fptr)(void)); 00056 00057 00058 00059 private: 00060 00061 Timer pulsetime; 00062 DigitalOut trigger; 00063 InterruptIn echo; 00064 float pulsedur; 00065 float distance; 00066 }; 00067 00068 #endif
Generated on Thu Jul 14 2022 13:15:26 by 1.7.2