Diff: angledSonar.h

Revision:

0:932004bfb013

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/angledSonar.h	Wed Jun 13 09:22:37 2018 +0000
@@ -0,0 +1,36 @@
+#include "mbed.h"
+
+struct Point{
+    float x;
+    float y;
+};
+
+class Sonar{
+    public:
+    Sonar(PinName trig, PinName echo, float angle_z = 0, float x = 0, float y = 0, float z = 0);
+    float getDistance();
+    float getLastDistance() {return _distance;}
+    Point getCoordinate();
+    void autoPulse(bool on_off, float frequency_ms = 1);
+    void pulse();
+    
+    private:
+    Ticker _ticker;
+    Timer _timer;
+    DigitalOut _trig;
+    InterruptIn _echo;
+    
+    int _begin;
+    int _end;
+    float _distance;
+    bool _pinged;
+    
+    float _ratio_x;
+    float _ratio_y;
+    float _x;
+    float _y;
+    float _z;
+    
+    void echoBegin();
+    void echoEnd();
+};
\ No newline at end of file