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working version with calibration done
Fork of Eurobot2013 by
Sonar/RFSRF05.h
- Committer:
- xiaxia686
- Date:
- 2013-04-07
- Revision:
- 10:2bd9f4e02b74
- Parent:
- Kalman/Sonar/RFSRF05.h@ 1:6799c07fe510
- Child:
- 11:5ba926692210
File content as of revision 10:2bd9f4e02b74:
#ifndef MBED_RFSRF05_H #define MBED_RFSRF05_H #include "mbed.h" #include "RF12B.h" #include "globals.h" #define CODE0 0x22 #define CODE1 0x44 #define CODE2 0x88 /* SAMPLE IMPLEMENTATION! RFSRF05 my_srf(p13,p21,p22,p23,p24,p25,p26,p5,p6,p7,p8,p9); void callbinmain(int num, float dist) { //Here is where you deal with your brand new reading ;D } int main() { pc.printf("Hello World of RobotSonar!\r\n"); my_srf.callbackfunc = callbinmain; while (1); } */ class DummyCT; class RFSRF05 { public: RFSRF05( PinName trigger, PinName echo0, PinName echo1, PinName echo2, PinName echo3, PinName echo4, PinName echo5, PinName SDI, PinName SDO, PinName SCK, PinName NCS, PinName NIRQ); /** A non-blocking function that will return the last measurement * * @returns floating point representation of distance in mm */ float read0(); float read1(); float read2(); float read(unsigned int beaconnum); /** A assigns a callback function when a new reading is available **/ void (*callbackfunc)(int beaconnum, float distance); DummyCT* callbackobj; void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance); //triggers a read #ifndef ROBOT_PRIMARY void startRange(unsigned char rx_code); #endif //set codes void setCode(int code_index, unsigned char code); unsigned char codes[3]; /** A short hand way of using the read function */ //operator float(); private : RF12B _rf; DigitalOut _trigger; InterruptIn _echo0; InterruptIn _echo1; InterruptIn _echo2; InterruptIn _echo3; InterruptIn _echo4; InterruptIn _echo5; Timer _timer; Ticker _ticker; #ifdef ROBOT_PRIMARY void _startRange(void); #endif void _rising (void); void _falling (void); float _dist[3]; int _beacon_counter; bool ValidPulse; bool expValidPulse; }; #endif