涂 桂旺 / HCSR04

test

Fork of HCSR04 by TVZ Mechatronics Team

HCSR04.h@5:a667b621f625, 2015-12-07 (annotated)

Committer:
tbjazic
Date:
Mon Dec 07 09:57:48 2015 +0000
Revision:
5:a667b621f625
Parent:
4:aae70f15357f
Child:
6:cf3e4e307d15
Example of use (documentation part) updated.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tbjazic 0:8871082486ac 1 #ifndef HCSR04_H_TVZMT
tbjazic 0:8871082486ac 2 #define HCSR04_H_TVZMT
tbjazic 0:8871082486ac 3
tbjazic 0:8871082486ac 4 /** A distance measurement class using ultrasonic sensor HC-SR04.
tbjazic 0:8871082486ac 5 *
tbjazic 0:8871082486ac 6 * Example of use:
tbjazic 2:aa59a9c531be 7 * @code
tbjazic 0:8871082486ac 8 * #include "mbed.h"
tbjazic 0:8871082486ac 9 * #include "HCSR04.h"
tbjazic 0:8871082486ac 10 *
tbjazic 5:a667b621f625 11 * Serial pc(USBTX, USBRX);
tbjazic 5:a667b621f625 12 *
tbjazic 0:8871082486ac 13 * int main() {
tbjazic 5:a667b621f625 14 * HCSR04 sensor(p5, p7);
tbjazic 5:a667b621f625 15 * sensor.setRanges(10, 110);
tbjazic 5:a667b621f625 16 * pc.printf("Min. range = %g cm\n\rMax. range = %g cm\n\r",
tbjazic 5:a667b621f625 17 * sensor.getMinRange(), sensor.getMaxRange());
tbjazic 0:8871082486ac 18 * while(1) {
tbjazic 5:a667b621f625 19 * pc.printf("Distance: %5.1f mm\r", sensor.getDistance_mm());
tbjazic 5:a667b621f625 20 * wait_ms(500);
tbjazic 0:8871082486ac 21 * }
tbjazic 0:8871082486ac 22 * }
tbjazic 2:aa59a9c531be 23 * @endcode
tbjazic 0:8871082486ac 24 */
tbjazic 0:8871082486ac 25 class HCSR04 {
tbjazic 0:8871082486ac 26
tbjazic 0:8871082486ac 27 public:
tbjazic 0:8871082486ac 28
tbjazic 0:8871082486ac 29 /** Receives two PinName variables.
tbjazic 0:8871082486ac 30 * @param echoPin mbed pin to which the echo signal is connected to
tbjazic 0:8871082486ac 31 * @param triggerPin mbed pin to which the trigger signal is connected to
tbjazic 0:8871082486ac 32 */
tbjazic 0:8871082486ac 33 HCSR04(PinName echoPin, PinName triggerPin);
tbjazic 0:8871082486ac 34
tbjazic 4:aae70f15357f 35 /** Calculates the distance in cm, with the calculation time of approximatelly 23.7 ms.
tbjazic 0:8871082486ac 36 * @returns distance of the measuring object in cm.
tbjazic 0:8871082486ac 37 */
tbjazic 0:8871082486ac 38 float getDistance_cm();
tbjazic 0:8871082486ac 39
tbjazic 4:aae70f15357f 40 /** Calculates the distance in mm, with the calculation time of approximatelly 23.7 ms.
tbjazic 4:aae70f15357f 41 * @returns distance of the measuring object in mm.
tbjazic 4:aae70f15357f 42 */
tbjazic 4:aae70f15357f 43 float getDistance_mm();
tbjazic 4:aae70f15357f 44
tbjazic 4:aae70f15357f 45 /** Sets the minimum and maximum ranges between the factory values of 2 cm and 400 cm.
tbjazic 4:aae70f15357f 46 * @param minRange Minimum range in cm. Must be between 2 cm and maxRange.
tbjazic 4:aae70f15357f 47 * @param maxRange Maximum range in cm. Must be between minRange and 400 cm.
tbjazic 4:aae70f15357f 48 */
tbjazic 4:aae70f15357f 49 void setRanges(float minRange, float maxRange);
tbjazic 4:aae70f15357f 50
tbjazic 4:aae70f15357f 51 /** Retreives the minimum sensor range set by the user.
tbjazic 4:aae70f15357f 52 * @returns the minimum sensor range set by the user in cm.
tbjazic 4:aae70f15357f 53 */
tbjazic 4:aae70f15357f 54 float getMinRange();
tbjazic 4:aae70f15357f 55
tbjazic 4:aae70f15357f 56 /** Retreives the maximum sensor range set by the user.
tbjazic 4:aae70f15357f 57 * @returns the maximum sensor range set by the user in cm.
tbjazic 4:aae70f15357f 58 */
tbjazic 4:aae70f15357f 59 float getMaxRange();
tbjazic 4:aae70f15357f 60
tbjazic 0:8871082486ac 61 private:
tbjazic 0:8871082486ac 62
tbjazic 0:8871082486ac 63 InterruptIn echo; // echo pin
tbjazic 0:8871082486ac 64 DigitalOut trigger; // trigger pin
tbjazic 0:8871082486ac 65 Timer timer; // echo pulsewidth measurement
tbjazic 0:8871082486ac 66 float distance; // store the distance in cm
tbjazic 3:9a7899cf5e3a 67 float minDistance; // minimum measurable distance
tbjazic 3:9a7899cf5e3a 68 float maxDistance; // maximum measurable distance
tbjazic 0:8871082486ac 69
tbjazic 0:8871082486ac 70 /** Start the timer. */
tbjazic 0:8871082486ac 71 void startTimer();
tbjazic 0:8871082486ac 72
tbjazic 0:8871082486ac 73 /** Stop the timer. */
tbjazic 0:8871082486ac 74 void stopTimer();
tbjazic 0:8871082486ac 75
tbjazic 0:8871082486ac 76 /** Initialization. */
tbjazic 0:8871082486ac 77 void init();
tbjazic 0:8871082486ac 78
tbjazic 0:8871082486ac 79 /** Start the measurement. */
tbjazic 0:8871082486ac 80 void startMeasurement();
tbjazic 0:8871082486ac 81 };
tbjazic 0:8871082486ac 82
tbjazic 0:8871082486ac 83 #endif