Ryota Kotani / Mbed 2 deprecated ROS_R2_YONRIN

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Dependencies:   mbed URF MD_MDDS30_oit_ ros_lib_melodic

URF.cpp@0:450a7208c682, 2022-05-03 (annotated)

Committer:
akihiron
Date:
Tue May 03 08:02:58 2022 +0000
Revision:
0:450a7208c682
05/03

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akihiron 0:450a7208c682 1 #include "URF.h"
akihiron 0:450a7208c682 2
akihiron 0:450a7208c682 3 #include "mbed.h"
akihiron 0:450a7208c682 4
akihiron 0:450a7208c682 5 URF::URF(PinName URF_PIN)
akihiron 0:450a7208c682 6 : _event(URF_PIN)
akihiron 0:450a7208c682 7 , _cmd(URF_PIN)
akihiron 0:450a7208c682 8 , _timer()
akihiron 0:450a7208c682 9 {
akihiron 0:450a7208c682 10 _event.rise(callback(this, &URF::_start));
akihiron 0:450a7208c682 11 _event.fall(callback(this, &URF::_stop));
akihiron 0:450a7208c682 12 _METER_PER_SECOND = 334.0; // m/s
akihiron 0:450a7208c682 13
akihiron 0:450a7208c682 14 _Busy = false;
akihiron 0:450a7208c682 15
akihiron 0:450a7208c682 16 _cmd.output();
akihiron 0:450a7208c682 17 _cmd.write(0);
akihiron 0:450a7208c682 18
akihiron 0:450a7208c682 19 _timer.stop();
akihiron 0:450a7208c682 20 _timer.reset();
akihiron 0:450a7208c682 21 }
akihiron 0:450a7208c682 22
akihiron 0:450a7208c682 23 void URF::_start(void)
akihiron 0:450a7208c682 24 {
akihiron 0:450a7208c682 25 // _Valid = false; // start the timere, and invalidate the current time.
akihiron 0:450a7208c682 26 _Busy = true;
akihiron 0:450a7208c682 27 _timer.reset();
akihiron 0:450a7208c682 28 _timer.start();
akihiron 0:450a7208c682 29 }
akihiron 0:450a7208c682 30
akihiron 0:450a7208c682 31 void URF::_stop(void)
akihiron 0:450a7208c682 32 {
akihiron 0:450a7208c682 33 // _Valid = true; // When it stops, update the time
akihiron 0:450a7208c682 34 _Busy = false;
akihiron 0:450a7208c682 35 _timer.stop();
akihiron 0:450a7208c682 36 _Time = _timer.read_us();
akihiron 0:450a7208c682 37 }
akihiron 0:450a7208c682 38
akihiron 0:450a7208c682 39 void URF::send(void)
akihiron 0:450a7208c682 40 {
akihiron 0:450a7208c682 41 if(_Busy){
akihiron 0:450a7208c682 42 _timer.stop();
akihiron 0:450a7208c682 43 _Time = _timer.read_us();
akihiron 0:450a7208c682 44 return ;
akihiron 0:450a7208c682 45 }
akihiron 0:450a7208c682 46 _cmd.output();
akihiron 0:450a7208c682 47 _cmd.write(1);
akihiron 0:450a7208c682 48 wait_us(10);
akihiron 0:450a7208c682 49 _cmd.write(0);
akihiron 0:450a7208c682 50 _cmd.input();
akihiron 0:450a7208c682 51 }
akihiron 0:450a7208c682 52
akihiron 0:450a7208c682 53 void URF::Set_MpS(float MpS)
akihiron 0:450a7208c682 54 {
akihiron 0:450a7208c682 55 _METER_PER_SECOND = MpS;
akihiron 0:450a7208c682 56 }
akihiron 0:450a7208c682 57
akihiron 0:450a7208c682 58 int URF::read(int scale)
akihiron 0:450a7208c682 59 // -1 means not valid.
akihiron 0:450a7208c682 60 {
akihiron 0:450a7208c682 61 // if(_Valid && ~_Busy)
akihiron 0:450a7208c682 62 return int(((_Time*(_METER_PER_SECOND / float(scale)))/2.0f) + 0.5f);
akihiron 0:450a7208c682 63 // else
akihiron 0:450a7208c682 64 // return -1;
akihiron 0:450a7208c682 65 }
akihiron 0:450a7208c682 66
akihiron 0:450a7208c682 67 int URF::read(void)
akihiron 0:450a7208c682 68 // -1 means not valid.
akihiron 0:450a7208c682 69 {
akihiron 0:450a7208c682 70 // if(_Valid && ~_Busy)
akihiron 0:450a7208c682 71 return int(((_Time*(_METER_PER_SECOND / 1000.0f))/2.0f) + 0.5f);
akihiron 0:450a7208c682 72 // else
akihiron 0:450a7208c682 73 // return -1;
akihiron 0:450a7208c682 74 }