Revision 0:8ae0145ae26e, committed 2018-06-21

Comitter:

twjfransen

Date:

Thu Jun 21 11:39:58 2018 +0000

Commit message:

bla

Changed in this revision

diff -r 000000000000 -r 8ae0145ae26e sonar.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sonar.cpp	Thu Jun 21 11:39:58 2018 +0000
@@ -0,0 +1,50 @@
+#include "sonar.h"
+
+Sonar::Sonar(PinName trig, PinName echo)
+    :_trig(trig)
+    ,_echo(echo)
+{
+    _timer.start();
+    _echo.rise(callback(this, &Sonar::echoBegin));
+    _echo.fall(callback(this, &Sonar::echoEnd));
+    _pinged = false;
+}
+
+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();
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 8ae0145ae26e sonar.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sonar.h	Thu Jun 21 11:39:58 2018 +0000
@@ -0,0 +1,24 @@
+#include "mbed.h"
+
+class Sonar{
+    public:
+    Sonar(PinName trig, PinName echo);
+    float getDistance();
+    float getLastDistance() {return _distance;}
+    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;
+    
+    void echoBegin();
+    void echoEnd();
+};
\ No newline at end of file