Cooper Liu / Mbed 2 deprecated Eurobot2013_Co-Processor

working version with calibration done

Fork of Eurobot2013 by Oskar Weigl

IR/PwmIn/PwmIn.h@10:2bd9f4e02b74, 2013-04-07 (annotated)

Committer:
xiaxia686
Date:
Sun Apr 07 16:30:49 2013 +0000
Revision:
10:2bd9f4e02b74
Working version with no serial communication to the main board. The IR sensors uses mode for identification;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xiaxia686 10:2bd9f4e02b74 1 /* mbed PwmIn Library
xiaxia686 10:2bd9f4e02b74 2 * Copyright (c) 2008-2010, sford
xiaxia686 10:2bd9f4e02b74 3 *
xiaxia686 10:2bd9f4e02b74 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
xiaxia686 10:2bd9f4e02b74 5 * of this software and associated documentation files (the "Software"), to deal
xiaxia686 10:2bd9f4e02b74 6 * in the Software without restriction, including without limitation the rights
xiaxia686 10:2bd9f4e02b74 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
xiaxia686 10:2bd9f4e02b74 8 * copies of the Software, and to permit persons to whom the Software is
xiaxia686 10:2bd9f4e02b74 9 * furnished to do so, subject to the following conditions:
xiaxia686 10:2bd9f4e02b74 10 *
xiaxia686 10:2bd9f4e02b74 11 * The above copyright notice and this permission notice shall be included in
xiaxia686 10:2bd9f4e02b74 12 * all copies or substantial portions of the Software.
xiaxia686 10:2bd9f4e02b74 13 *
xiaxia686 10:2bd9f4e02b74 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
xiaxia686 10:2bd9f4e02b74 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
xiaxia686 10:2bd9f4e02b74 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
xiaxia686 10:2bd9f4e02b74 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
xiaxia686 10:2bd9f4e02b74 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
xiaxia686 10:2bd9f4e02b74 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
xiaxia686 10:2bd9f4e02b74 20 * THE SOFTWARE.
xiaxia686 10:2bd9f4e02b74 21 */
xiaxia686 10:2bd9f4e02b74 22
xiaxia686 10:2bd9f4e02b74 23 #ifndef MBED_PWMIN_H
xiaxia686 10:2bd9f4e02b74 24 #define MBED_PWMIN_H
xiaxia686 10:2bd9f4e02b74 25
xiaxia686 10:2bd9f4e02b74 26 #include "mbed.h"
xiaxia686 10:2bd9f4e02b74 27
xiaxia686 10:2bd9f4e02b74 28 /** PwmIn class to read PWM inputs
xiaxia686 10:2bd9f4e02b74 29 *
xiaxia686 10:2bd9f4e02b74 30 * Uses InterruptIn to measure the changes on the input
xiaxia686 10:2bd9f4e02b74 31 * and record the time they occur
xiaxia686 10:2bd9f4e02b74 32 *
xiaxia686 10:2bd9f4e02b74 33 * @note uses InterruptIn, so not available on p19/p20
xiaxia686 10:2bd9f4e02b74 34 */
xiaxia686 10:2bd9f4e02b74 35 class DummyCT;
xiaxia686 10:2bd9f4e02b74 36
xiaxia686 10:2bd9f4e02b74 37 class PwmIn {
xiaxia686 10:2bd9f4e02b74 38 public:
xiaxia686 10:2bd9f4e02b74 39 /** Create a PwmIn
xiaxia686 10:2bd9f4e02b74 40 *
xiaxia686 10:2bd9f4e02b74 41 * @param p The pwm input pin (must support InterruptIn)
xiaxia686 10:2bd9f4e02b74 42 */
xiaxia686 10:2bd9f4e02b74 43 PwmIn(PinName p);
xiaxia686 10:2bd9f4e02b74 44
xiaxia686 10:2bd9f4e02b74 45 /** Read the current period
xiaxia686 10:2bd9f4e02b74 46 *
xiaxia686 10:2bd9f4e02b74 47 * @returns the period in micro seconds
xiaxia686 10:2bd9f4e02b74 48 */
xiaxia686 10:2bd9f4e02b74 49 float period();
xiaxia686 10:2bd9f4e02b74 50
xiaxia686 10:2bd9f4e02b74 51 /** Read the current pulsewidth
xiaxia686 10:2bd9f4e02b74 52 *
xiaxia686 10:2bd9f4e02b74 53 * @returns the pulsewidth in micro seconds
xiaxia686 10:2bd9f4e02b74 54 */
xiaxia686 10:2bd9f4e02b74 55 float pulsewidth();
xiaxia686 10:2bd9f4e02b74 56
xiaxia686 10:2bd9f4e02b74 57 /** Read the current dutycycle
xiaxia686 10:2bd9f4e02b74 58 *
xiaxia686 10:2bd9f4e02b74 59 * @returns the dutycycle as a percentage, represented between 0.0-1.0
xiaxia686 10:2bd9f4e02b74 60 */
xiaxia686 10:2bd9f4e02b74 61 float dutycycle();
xiaxia686 10:2bd9f4e02b74 62
xiaxia686 10:2bd9f4e02b74 63 /** A assigns a callback function when a new reading is available **/
xiaxia686 10:2bd9f4e02b74 64 void (*callbackfunc)(float pulsewidth);
xiaxia686 10:2bd9f4e02b74 65 DummyCT* callbackobj;
xiaxia686 10:2bd9f4e02b74 66 void (DummyCT::*mcallbackfunc)(float pulsewidth);
xiaxia686 10:2bd9f4e02b74 67
xiaxia686 10:2bd9f4e02b74 68
xiaxia686 10:2bd9f4e02b74 69 protected:
xiaxia686 10:2bd9f4e02b74 70 void rise();
xiaxia686 10:2bd9f4e02b74 71 void fall();
xiaxia686 10:2bd9f4e02b74 72
xiaxia686 10:2bd9f4e02b74 73 InterruptIn _p;
xiaxia686 10:2bd9f4e02b74 74 Timer _t;
xiaxia686 10:2bd9f4e02b74 75 float _pulsewidth, _period;
xiaxia686 10:2bd9f4e02b74 76 };
xiaxia686 10:2bd9f4e02b74 77
xiaxia686 10:2bd9f4e02b74 78 #endif