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Dependencies:   mbed URF MD_MDDS30_oit_ ros_lib_melodic

URF.h@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 /* mbed URF Library
akihiron 0:450a7208c682 2 * Copyright (c) 2007-2010 rosienej
akihiron 0:450a7208c682 3 *
akihiron 0:450a7208c682 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
akihiron 0:450a7208c682 5 * of this software and associated documentation files (the "Software"), to deal
akihiron 0:450a7208c682 6 * in the Software without restriction, including without limitation the rights
akihiron 0:450a7208c682 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
akihiron 0:450a7208c682 8 * copies of the Software, and to permit persons to whom the Software is
akihiron 0:450a7208c682 9 * furnished to do so, subject to the following conditions:
akihiron 0:450a7208c682 10 *
akihiron 0:450a7208c682 11 * The above copyright notice and this permission notice shall be included in
akihiron 0:450a7208c682 12 * all copies or substantial portions of the Software.
akihiron 0:450a7208c682 13 *
akihiron 0:450a7208c682 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
akihiron 0:450a7208c682 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
akihiron 0:450a7208c682 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
akihiron 0:450a7208c682 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
akihiron 0:450a7208c682 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
akihiron 0:450a7208c682 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
akihiron 0:450a7208c682 20 * THE SOFTWARE.
akihiron 0:450a7208c682 21 */
akihiron 0:450a7208c682 22
akihiron 0:450a7208c682 23 #ifndef MBED_URF_H
akihiron 0:450a7208c682 24 #define MBED_URF_H
akihiron 0:450a7208c682 25
akihiron 0:450a7208c682 26 #include "mbed.h"
akihiron 0:450a7208c682 27 /** URF class, based on an InterruptIn pin, and a timer
akihiron 0:450a7208c682 28 * works with the UltrasonicRangeFinder sensor (Parallax PING))), HC-SR04, etc...)
akihiron 0:450a7208c682 29 *
akihiron 0:450a7208c682 30 * Example:
akihiron 0:450a7208c682 31 * @code
akihiron 0:450a7208c682 32 * // Continuously send URFs and read the sensor
akihiron 0:450a7208c682 33 * #include "mbed.h"
akihiron 0:450a7208c682 34 * #include "URF.h"
akihiron 0:450a7208c682 35 *
akihiron 0:450a7208c682 36 * URF Ping(p21);
akihiron 0:450a7208c682 37 *
akihiron 0:450a7208c682 38 * int main() {
akihiron 0:450a7208c682 39 * int range;
akihiron 0:450a7208c682 40
akihiron 0:450a7208c682 41 * while(1) {
akihiron 0:450a7208c682 42 *
akihiron 0:450a7208c682 43 * Ping.send();
akihiron 0:450a7208c682 44 * wait_ms(30);
akihiron 0:450a7208c682 45 * range = Ping.read(mm);
akihiron 0:450a7208c682 46 * }
akihiron 0:450a7208c682 47 * }
akihiron 0:450a7208c682 48 * @endcode
akihiron 0:450a7208c682 49 */
akihiron 0:450a7208c682 50
akihiron 0:450a7208c682 51 #define mm 1000
akihiron 0:450a7208c682 52 #define cm 100
akihiron 0:450a7208c682 53
akihiron 0:450a7208c682 54 class URF
akihiron 0:450a7208c682 55 {
akihiron 0:450a7208c682 56 public:
akihiron 0:450a7208c682 57 /** Create a URF object connected to the specified InterruptIn pin
akihiron 0:450a7208c682 58 *
akihiron 0:450a7208c682 59 * @param URF_PIN InterruptIn pin to connect to
akihiron 0:450a7208c682 60 */
akihiron 0:450a7208c682 61 URF(PinName URF_PIN);
akihiron 0:450a7208c682 62
akihiron 0:450a7208c682 63 /** Sends a URF
akihiron 0:450a7208c682 64 *
akihiron 0:450a7208c682 65 * @param none
akihiron 0:450a7208c682 66 */
akihiron 0:450a7208c682 67 void send(void);
akihiron 0:450a7208c682 68
akihiron 0:450a7208c682 69 /** Set the meter per second, default 334.0 m/s
akihiron 0:450a7208c682 70 *
akihiron 0:450a7208c682 71 * @param Meter per second in m/s
akihiron 0:450a7208c682 72 */
akihiron 0:450a7208c682 73 void Set_MpS(float SoS_ms);
akihiron 0:450a7208c682 74
akihiron 0:450a7208c682 75 /** Read the result in centimeters
akihiron 0:450a7208c682 76 *
akihiron 0:450a7208c682 77 * @param none
akihiron 0:450a7208c682 78 */
akihiron 0:450a7208c682 79 int read(int scale);
akihiron 0:450a7208c682 80 int read(void);
akihiron 0:450a7208c682 81
akihiron 0:450a7208c682 82 protected:
akihiron 0:450a7208c682 83
akihiron 0:450a7208c682 84 InterruptIn _event;
akihiron 0:450a7208c682 85 DigitalInOut _cmd;
akihiron 0:450a7208c682 86 Timer _timer;
akihiron 0:450a7208c682 87
akihiron 0:450a7208c682 88 // bool _Valid;
akihiron 0:450a7208c682 89 bool _Busy;
akihiron 0:450a7208c682 90 int _Time;
akihiron 0:450a7208c682 91 float _METER_PER_SECOND; /* in milliseconds */
akihiron 0:450a7208c682 92 float _mm_per_us;
akihiron 0:450a7208c682 93
akihiron 0:450a7208c682 94 void _start(void);
akihiron 0:450a7208c682 95 void _stop(void);
akihiron 0:450a7208c682 96
akihiron 0:450a7208c682 97 };
akihiron 0:450a7208c682 98
akihiron 0:450a7208c682 99 #endif