File content as of revision 0:932004bfb013:

#include "angledSonar.h"

Sonar::Sonar(PinName trig, PinName echo, float angle_z, float x, float y, float z)
    :_trig(trig)
    ,_echo(echo)
    ,_x(x)
    ,_y(y)
    ,_z(z)
{
    _timer.start();
    _echo.rise(callback(this, &Sonar::echoBegin));
    _echo.fall(callback(this, &Sonar::echoEnd));
    _pinged = false;
    
    _ratio_x = -sin(angle_z);
    _ratio_y = cos(angle_z);
}

void Sonar::echoBegin()
{
    _timer.reset();
    _begin = _timer.read_us();}

void Sonar::echoEnd()
{
    _end = _timer.read_us();
    _distance = (_end - _begin)/58.3;
    _pinged = true;
}

float Sonar::getDistance()
{
    _trig = 1;
    wait_us(10);
    _trig = 0;
    while(!_pinged){printf("");}
    _pinged = false;
    return _distance;
}

void Sonar::pulse()
{
    _trig = 1;
    wait_us(10);
    _trig = 0;
}

void Sonar::autoPulse(bool on_off, float frequency_ms /*=1*/)
{
    if (on_off) {
        _ticker.attach(callback(this, &Sonar::pulse), frequency_ms/1000);
    }
    else {
        _ticker.detach();
    }
}

Point Sonar::getCoordinate()
{
    float distance = getDistance();
    Point newPoint;
    newPoint.x = distance * _ratio_x + _x;
    newPoint.y = distance * _ratio_y + _y;
    return newPoint;
}