LidarLitev2.h

00001 #ifndef LidarLitev2_H
00002 #define LidarLitev2_H
00003 
00004 
00005 #include "mbed.h"
00006 
00007 /** My LidarLite class
00008 *   Used for controlling and interacting with the LidarLitev2
00009 Example:
00010 *   @code
00011 *   //Measures distance from the lidarlite and prints it through serial
00012 *   #include "LidarLitev2.h"
00013 *   LidarLitev2 Lidar(p28, p27);
00014 *   Serial pc(USBTX,USBRX);
00015 *
00016 *
00017 *       Timer dt;
00018 *   int main()
00019 *   {   
00020 *    
00021 *       pc.baud(115200);
00022 *       Lidar.configure();
00023 *       dt.start();
00024 *       while(1){
00025 *           pc.printf("distance = %d cm frequency = %.2f Hz\n", Lidar.distance(), 1/dt.read());
00026 *           dt.reset();
00027 *       }
00028 *   }
00029 *   @endcode
00030 *
00031 *
00032 */
00033 
00034 class LidarLitev2
00035 {
00036 public:
00037     LidarLitev2(PinName sda, PinName scl, bool = true);  // Constructor iniates I2C setup
00038     
00039     /** Configure the different modes of the Lidar */
00040     void configure(int = 0, int = 0xc4);   // Configure the mode and slave address
00041     
00042     /** Sets the Lidar to read continuously, indicating its ready to be read from by the modepin pulling down,  a cerntain amount of times */
00043     void beginContinuous(bool = true, char = 0x04, char = 0xff, int = 0xc4); //Enable if using continous setup with mode from Lidar and pulldown
00044     
00045     /** Calclulates distance through I2C protocol of activating sensor with a write, then a write for the register, and a read. */
00046     int distance(bool = true, bool = true, int = 0xc4); 
00047     // Returns distance as a integer in cm
00048 
00049     /** 1.) Set Lidar circuit for continuous mode
00050     *2.) utilize the beginContinous function and configure as desired
00051     * This function returns distance without any need to activate the lidar senore through a write command,
00052     * instead the mode pin pulls down when the lidar is ready for a read
00053     * Returns distance as a integer in cm */
00054     int distanceContinuous(int = 0xc4); 
00055 
00056 
00057 private:
00058     // I2C Functions //
00059     ///////////////////
00060     I2C i2c; // Kept private as to prevent changing the I2C once set in the constructor of LidarLitev2
00061 };
00062 
00063 #endif /* LidarLitev2_H */