Fabian Wenger / Mbed 2 deprecated Rainbow

Grundfunktionen für Micromouse

Dependencies:   AutomationElements mbed

UltrasonicSensor/HCSR04.cpp@0:e38b500d6e74, 2018-04-19 (annotated)

Committer:
wengefa1
Date:
Thu Apr 19 11:31:49 2018 +0000
Revision:
0:e38b500d6e74
Child:
1:4808f55970e8
keine Regelung vorhanden

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wengefa1 0:e38b500d6e74 1 #include "mbed.h"
wengefa1 0:e38b500d6e74 2 #include "HCSR04.h"
wengefa1 0:e38b500d6e74 3
wengefa1 0:e38b500d6e74 4 float sampleTime = 0.5f;
wengefa1 0:e38b500d6e74 5
wengefa1 0:e38b500d6e74 6 HCSR04::HCSR04(InterruptIn& echo, DigitalOut& trigger) : echo(echo), trigger(trigger) {
wengefa1 0:e38b500d6e74 7
wengefa1 0:e38b500d6e74 8 ticker_sens.attach(callback(this, &HCSR04::startMeasurement), sampleTime);
wengefa1 0:e38b500d6e74 9 init();
wengefa1 0:e38b500d6e74 10 //ticker.attach(callback(this, &Controller::run), PERIOD);
wengefa1 0:e38b500d6e74 11 }
wengefa1 0:e38b500d6e74 12
wengefa1 0:e38b500d6e74 13 HCSR04::~HCSR04()
wengefa1 0:e38b500d6e74 14 {
wengefa1 0:e38b500d6e74 15 ticker_sens.detach(); // Stoppt den periodischen Task
wengefa1 0:e38b500d6e74 16 }
wengefa1 0:e38b500d6e74 17
wengefa1 0:e38b500d6e74 18 void HCSR04::init() {
wengefa1 0:e38b500d6e74 19 distance = -1; // initial distance
wengefa1 0:e38b500d6e74 20 minDistance = 2;
wengefa1 0:e38b500d6e74 21 maxDistance = 400;
wengefa1 0:e38b500d6e74 22 newDataReady = timerStarted = false;
wengefa1 0:e38b500d6e74 23 }
wengefa1 0:e38b500d6e74 24
wengefa1 0:e38b500d6e74 25 void HCSR04::startTimer() {
wengefa1 0:e38b500d6e74 26 if (!timerStarted) {
wengefa1 0:e38b500d6e74 27 timer.start(); // start the timer
wengefa1 0:e38b500d6e74 28 timerStarted = true;
wengefa1 0:e38b500d6e74 29 echoTimeout.attach_us(this, &HCSR04::stopTimer, 25000); // in case echo fall does not occur
wengefa1 0:e38b500d6e74 30 echo.fall(this, &HCSR04::stopTimer);
wengefa1 0:e38b500d6e74 31 echo.rise(NULL);
wengefa1 0:e38b500d6e74 32 }
wengefa1 0:e38b500d6e74 33 }
wengefa1 0:e38b500d6e74 34
wengefa1 0:e38b500d6e74 35 void HCSR04::stopTimer() {
wengefa1 0:e38b500d6e74 36 timer.stop(); // stop the timer
wengefa1 0:e38b500d6e74 37 if (timerStarted) {
wengefa1 0:e38b500d6e74 38 distance = timer.read() * 1e6 / 58;
wengefa1 0:e38b500d6e74 39 if (distance < minDistance)
wengefa1 0:e38b500d6e74 40 distance = minDistance;
wengefa1 0:e38b500d6e74 41 if (distance > maxDistance)
wengefa1 0:e38b500d6e74 42 distance = maxDistance;
wengefa1 0:e38b500d6e74 43 newDataReady = true;
wengefa1 0:e38b500d6e74 44 }
wengefa1 0:e38b500d6e74 45 timer.reset();
wengefa1 0:e38b500d6e74 46 timerStarted = false;
wengefa1 0:e38b500d6e74 47 echoTimeout.detach();
wengefa1 0:e38b500d6e74 48 echo.fall(NULL);
wengefa1 0:e38b500d6e74 49 }
wengefa1 0:e38b500d6e74 50
wengefa1 0:e38b500d6e74 51 void HCSR04::turnOffTrigger() {
wengefa1 0:e38b500d6e74 52 trigger = 0;
wengefa1 0:e38b500d6e74 53 }
wengefa1 0:e38b500d6e74 54
wengefa1 0:e38b500d6e74 55 void HCSR04::startMeasurement() {
wengefa1 0:e38b500d6e74 56 trigger = 1;
wengefa1 0:e38b500d6e74 57 triggerTimeout.attach_us(this, &HCSR04::turnOffTrigger, 10);
wengefa1 0:e38b500d6e74 58 echo.rise(this, &HCSR04::startTimer);
wengefa1 0:e38b500d6e74 59 newDataReady = false;
wengefa1 0:e38b500d6e74 60 }
wengefa1 0:e38b500d6e74 61
wengefa1 0:e38b500d6e74 62 float HCSR04::getDistance_cm() {
wengefa1 0:e38b500d6e74 63 newDataReady = false;
wengefa1 0:e38b500d6e74 64 return distance;
wengefa1 0:e38b500d6e74 65 }
wengefa1 0:e38b500d6e74 66
wengefa1 0:e38b500d6e74 67 float HCSR04::getDistance_mm() {
wengefa1 0:e38b500d6e74 68 newDataReady = false;
wengefa1 0:e38b500d6e74 69 return distance * 10;
wengefa1 0:e38b500d6e74 70 }
wengefa1 0:e38b500d6e74 71
wengefa1 0:e38b500d6e74 72 bool HCSR04::isNewDataReady() {
wengefa1 0:e38b500d6e74 73 return newDataReady;
wengefa1 0:e38b500d6e74 74 }
wengefa1 0:e38b500d6e74 75
wengefa1 0:e38b500d6e74 76 void HCSR04::setRanges(float minRange, float maxRange) {
wengefa1 0:e38b500d6e74 77 if (minRange < maxRange) {
wengefa1 0:e38b500d6e74 78 if (minRange >= 2 && minRange < 400) // bug from revs. 4 and 5 corrected
wengefa1 0:e38b500d6e74 79 minDistance = minRange;
wengefa1 0:e38b500d6e74 80 if (maxRange <= 400)
wengefa1 0:e38b500d6e74 81 maxDistance = maxRange;
wengefa1 0:e38b500d6e74 82 }
wengefa1 0:e38b500d6e74 83 }
wengefa1 0:e38b500d6e74 84
wengefa1 0:e38b500d6e74 85 float HCSR04::getMinRange() {
wengefa1 0:e38b500d6e74 86 return minDistance;
wengefa1 0:e38b500d6e74 87 }
wengefa1 0:e38b500d6e74 88
wengefa1 0:e38b500d6e74 89 float HCSR04::getMaxRange() {
wengefa1 0:e38b500d6e74 90 return maxDistance;
wengefa1 0:e38b500d6e74 91 }