test
Fork of HCSR04 by
HCSR04.h@4:aae70f15357f, 2015-12-07 (annotated)
- Committer:
- tbjazic
- Date:
- Mon Dec 07 09:37:21 2015 +0000
- Revision:
- 4:aae70f15357f
- Parent:
- 3:9a7899cf5e3a
- Child:
- 5:a667b621f625
Functions for setting the sensor range and reading its values are added. Function for returning the measured distance in milimeters added.
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:8871082486ac | 11 | * Serial pc(USBTX, USBRX); // communication with terminal |
tbjazic | 0:8871082486ac | 12 | * |
tbjazic | 0:8871082486ac | 13 | * int main() { |
tbjazic | 0:8871082486ac | 14 | * HCSR04 sensor(p5, p7); // instantiate the sensor object |
tbjazic | 0:8871082486ac | 15 | * while(1) { |
tbjazic | 0:8871082486ac | 16 | * pc.printf("Distance: %5.1f cm\r", sensor.getDistance_cm()); |
tbjazic | 0:8871082486ac | 17 | * wait_ms(975); // print the result every 1 second |
tbjazic | 0:8871082486ac | 18 | * } |
tbjazic | 0:8871082486ac | 19 | * } |
tbjazic | 2:aa59a9c531be | 20 | * @endcode |
tbjazic | 0:8871082486ac | 21 | */ |
tbjazic | 0:8871082486ac | 22 | class HCSR04 { |
tbjazic | 0:8871082486ac | 23 | |
tbjazic | 0:8871082486ac | 24 | public: |
tbjazic | 0:8871082486ac | 25 | |
tbjazic | 0:8871082486ac | 26 | /** Receives two PinName variables. |
tbjazic | 0:8871082486ac | 27 | * @param echoPin mbed pin to which the echo signal is connected to |
tbjazic | 0:8871082486ac | 28 | * @param triggerPin mbed pin to which the trigger signal is connected to |
tbjazic | 0:8871082486ac | 29 | */ |
tbjazic | 0:8871082486ac | 30 | HCSR04(PinName echoPin, PinName triggerPin); |
tbjazic | 0:8871082486ac | 31 | |
tbjazic | 4:aae70f15357f | 32 | /** Calculates the distance in cm, with the calculation time of approximatelly 23.7 ms. |
tbjazic | 0:8871082486ac | 33 | * @returns distance of the measuring object in cm. |
tbjazic | 0:8871082486ac | 34 | */ |
tbjazic | 0:8871082486ac | 35 | float getDistance_cm(); |
tbjazic | 0:8871082486ac | 36 | |
tbjazic | 4:aae70f15357f | 37 | /** Calculates the distance in mm, with the calculation time of approximatelly 23.7 ms. |
tbjazic | 4:aae70f15357f | 38 | * @returns distance of the measuring object in mm. |
tbjazic | 4:aae70f15357f | 39 | */ |
tbjazic | 4:aae70f15357f | 40 | float getDistance_mm(); |
tbjazic | 4:aae70f15357f | 41 | |
tbjazic | 4:aae70f15357f | 42 | /** Sets the minimum and maximum ranges between the factory values of 2 cm and 400 cm. |
tbjazic | 4:aae70f15357f | 43 | * @param minRange Minimum range in cm. Must be between 2 cm and maxRange. |
tbjazic | 4:aae70f15357f | 44 | * @param maxRange Maximum range in cm. Must be between minRange and 400 cm. |
tbjazic | 4:aae70f15357f | 45 | */ |
tbjazic | 4:aae70f15357f | 46 | void setRanges(float minRange, float maxRange); |
tbjazic | 4:aae70f15357f | 47 | |
tbjazic | 4:aae70f15357f | 48 | /** Retreives the minimum sensor range set by the user. |
tbjazic | 4:aae70f15357f | 49 | * @returns the minimum sensor range set by the user in cm. |
tbjazic | 4:aae70f15357f | 50 | */ |
tbjazic | 4:aae70f15357f | 51 | float getMinRange(); |
tbjazic | 4:aae70f15357f | 52 | |
tbjazic | 4:aae70f15357f | 53 | /** Retreives the maximum sensor range set by the user. |
tbjazic | 4:aae70f15357f | 54 | * @returns the maximum sensor range set by the user in cm. |
tbjazic | 4:aae70f15357f | 55 | */ |
tbjazic | 4:aae70f15357f | 56 | float getMaxRange(); |
tbjazic | 4:aae70f15357f | 57 | |
tbjazic | 0:8871082486ac | 58 | private: |
tbjazic | 0:8871082486ac | 59 | |
tbjazic | 0:8871082486ac | 60 | InterruptIn echo; // echo pin |
tbjazic | 0:8871082486ac | 61 | DigitalOut trigger; // trigger pin |
tbjazic | 0:8871082486ac | 62 | Timer timer; // echo pulsewidth measurement |
tbjazic | 0:8871082486ac | 63 | float distance; // store the distance in cm |
tbjazic | 3:9a7899cf5e3a | 64 | float minDistance; // minimum measurable distance |
tbjazic | 3:9a7899cf5e3a | 65 | float maxDistance; // maximum measurable distance |
tbjazic | 0:8871082486ac | 66 | |
tbjazic | 0:8871082486ac | 67 | /** Start the timer. */ |
tbjazic | 0:8871082486ac | 68 | void startTimer(); |
tbjazic | 0:8871082486ac | 69 | |
tbjazic | 0:8871082486ac | 70 | /** Stop the timer. */ |
tbjazic | 0:8871082486ac | 71 | void stopTimer(); |
tbjazic | 0:8871082486ac | 72 | |
tbjazic | 0:8871082486ac | 73 | /** Initialization. */ |
tbjazic | 0:8871082486ac | 74 | void init(); |
tbjazic | 0:8871082486ac | 75 | |
tbjazic | 0:8871082486ac | 76 | /** Start the measurement. */ |
tbjazic | 0:8871082486ac | 77 | void startMeasurement(); |
tbjazic | 0:8871082486ac | 78 | }; |
tbjazic | 0:8871082486ac | 79 | |
tbjazic | 0:8871082486ac | 80 | #endif |