Sonar
angledSonar.h@0:932004bfb013, 2018-06-13 (annotated)
- Committer:
- twjfransen
- Date:
- Wed Jun 13 09:22:37 2018 +0000
- Revision:
- 0:932004bfb013
...
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
twjfransen | 0:932004bfb013 | 1 | #include "mbed.h" |
twjfransen | 0:932004bfb013 | 2 | |
twjfransen | 0:932004bfb013 | 3 | struct Point{ |
twjfransen | 0:932004bfb013 | 4 | float x; |
twjfransen | 0:932004bfb013 | 5 | float y; |
twjfransen | 0:932004bfb013 | 6 | }; |
twjfransen | 0:932004bfb013 | 7 | |
twjfransen | 0:932004bfb013 | 8 | class Sonar{ |
twjfransen | 0:932004bfb013 | 9 | public: |
twjfransen | 0:932004bfb013 | 10 | Sonar(PinName trig, PinName echo, float angle_z = 0, float x = 0, float y = 0, float z = 0); |
twjfransen | 0:932004bfb013 | 11 | float getDistance(); |
twjfransen | 0:932004bfb013 | 12 | float getLastDistance() {return _distance;} |
twjfransen | 0:932004bfb013 | 13 | Point getCoordinate(); |
twjfransen | 0:932004bfb013 | 14 | void autoPulse(bool on_off, float frequency_ms = 1); |
twjfransen | 0:932004bfb013 | 15 | void pulse(); |
twjfransen | 0:932004bfb013 | 16 | |
twjfransen | 0:932004bfb013 | 17 | private: |
twjfransen | 0:932004bfb013 | 18 | Ticker _ticker; |
twjfransen | 0:932004bfb013 | 19 | Timer _timer; |
twjfransen | 0:932004bfb013 | 20 | DigitalOut _trig; |
twjfransen | 0:932004bfb013 | 21 | InterruptIn _echo; |
twjfransen | 0:932004bfb013 | 22 | |
twjfransen | 0:932004bfb013 | 23 | int _begin; |
twjfransen | 0:932004bfb013 | 24 | int _end; |
twjfransen | 0:932004bfb013 | 25 | float _distance; |
twjfransen | 0:932004bfb013 | 26 | bool _pinged; |
twjfransen | 0:932004bfb013 | 27 | |
twjfransen | 0:932004bfb013 | 28 | float _ratio_x; |
twjfransen | 0:932004bfb013 | 29 | float _ratio_y; |
twjfransen | 0:932004bfb013 | 30 | float _x; |
twjfransen | 0:932004bfb013 | 31 | float _y; |
twjfransen | 0:932004bfb013 | 32 | float _z; |
twjfransen | 0:932004bfb013 | 33 | |
twjfransen | 0:932004bfb013 | 34 | void echoBegin(); |
twjfransen | 0:932004bfb013 | 35 | void echoEnd(); |
twjfransen | 0:932004bfb013 | 36 | }; |