Diff: URF.h

Revision:

0:450a7208c682

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/URF.h	Tue May 03 08:02:58 2022 +0000
@@ -0,0 +1,99 @@
+/* mbed URF Library
+ * Copyright (c) 2007-2010 rosienej
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_URF_H
+#define MBED_URF_H
+
+#include "mbed.h"
+/** URF class, based on an InterruptIn pin, and a timer
+ *  works with the UltrasonicRangeFinder sensor (Parallax PING))), HC-SR04, etc...)
+ *
+ * Example:
+ * @code
+ * // Continuously send URFs and read the sensor
+ * #include "mbed.h"
+ * #include "URF.h"
+ *
+ * URF Ping(p21);
+ *
+ * int main() {
+ *     int range;
+
+ *     while(1) {
+ *
+ *        Ping.send();
+ *        wait_ms(30);
+ *        range = Ping.read(mm);
+ *     }
+ * }
+ * @endcode
+ */
+
+#define mm 1000
+#define cm 100
+
+class URF
+{
+public:
+    /** Create a URF object connected to the specified InterruptIn pin
+     *
+     * @param URF_PIN InterruptIn pin to connect to
+     */
+    URF(PinName URF_PIN);
+
+    /** Sends a URF
+     *
+     * @param none
+     */
+    void send(void);
+
+    /** Set the meter per second, default 334.0 m/s
+     *
+     * @param Meter per second in m/s
+     */
+    void Set_MpS(float SoS_ms);
+
+    /** Read the result in centimeters
+      *
+      * @param none
+      */
+    int read(int scale);
+    int read(void);
+
+protected:
+
+    InterruptIn     _event;
+    DigitalInOut    _cmd;
+    Timer           _timer;
+
+//    bool  _Valid;
+    bool  _Busy;
+    int   _Time;
+    float _METER_PER_SECOND; /* in milliseconds */
+    float _mm_per_us;
+
+    void  _start(void);
+    void  _stop(void);
+
+};
+
+#endif