Kalman filter for Eurobot
RFSRF05/RFSRF05.h
- Committer:
- madcowswe
- Date:
- 2012-03-20
- Revision:
- 0:a0285293f6a6
File content as of revision 0:a0285293f6a6:
/* mbed SRF05 Ultrasonic Rangefiner Library * Copyright (c) 2007-2010, cstyles, sford * * 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_RFSRF05_H #define MBED_RFSRF05_H #include "mbed.h" #include "RF12B.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 cm */ float read0(); float read1(); float read2(); /** 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); /** 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; void _rising (void); void _falling (void); void _startRange (void); float _dist[3]; char _code[3]; int _beacon_counter; bool ValidPulse; }; #endif