Library for the SRF05 Ultrasonic Rangefinder
Dependents: SRF05_HelloWorld Final_Sonar MyFinalDerbot Ultra_Infra_TEST1 ... more
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 _ticker.attach(this, &SRF05::_startRange, 0.1); 00033 } 00034 00035 void SRF05::_startRange() { 00036 // send a trigger pulse, 20uS long 00037 _trigger = 1; 00038 wait (0.000002); 00039 _trigger = 0; 00040 } 00041 00042 // Clear and start the timer at the begining of the echo pulse 00043 void SRF05::_rising(void) { 00044 _timer.reset(); 00045 _timer.start(); 00046 } 00047 00048 // Stop and read the timer at the end of the pulse 00049 void SRF05::_falling(void) { 00050 _timer.stop(); 00051 _dist = _timer.read_us()/58.0; 00052 } 00053 00054 float SRF05::read(void) { 00055 // spin until there is a good value 00056 return (_dist); 00057 } 00058 00059 SRF05::operator float() { 00060 return read(); 00061 }
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