Library for the SRF05 Ultrasonic Rangefinder
Dependents: SRF05_HelloWorld Final_Sonar MyFinalDerbot Ultra_Infra_TEST1 ... more
SRF05.h
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 #ifndef MBED_SRF05_H 00024 #define MBED_SRF05_H 00025 00026 #include "mbed.h" 00027 00028 /** Library for the SRF05 Ultrasonic range finder 00029 * 00030 * Example: 00031 * @code 00032 * // Print measured distance 00033 * 00034 * #include "mbed.h" 00035 * #include "SRF05.h" 00036 * 00037 * SRF05 srf(p9,p10); 00038 * 00039 * int main() { 00040 * while(1) { 00041 * printf("Measured : %.1f\n", srf.read()); 00042 * wait(0.2); 00043 * } 00044 * } 00045 * @endcode 00046 */ 00047 class SRF05 { 00048 public: 00049 00050 /** Create a SRF05 object, connected to the specified pins 00051 * 00052 * @param trigger DigitalOut to the SRF05 trigger 00053 * @param echo InterruptIn to measure the return pulse 00054 */ 00055 SRF05(PinName trigger, PinName echo); 00056 00057 /** A non-blocking function that will return the last measurement 00058 * 00059 * @returns floating point representation of distance in cm 00060 */ 00061 float read(); 00062 00063 /** A short hand way of using the read function */ 00064 operator float(); 00065 00066 private : 00067 DigitalOut _trigger; 00068 InterruptIn _echo; 00069 Timer _timer; 00070 Ticker _ticker; 00071 void _rising (void); 00072 void _falling (void); 00073 void _startRange (void); 00074 float _dist; 00075 }; 00076 00077 #endif
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