Diff: Eurobot_shared/Kalman/Sonar/RFSRF05.h

Revision:

23:1901cb6d0d95

Parent:

22:7ba09c0af0d0

Child:

24:7a3906c2f5d5

--- a/Eurobot_shared/Kalman/Sonar/RFSRF05.h	Thu May 03 14:20:04 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,102 +0,0 @@
-
-#ifndef MBED_RFSRF05_H
-#define MBED_RFSRF05_H
-
-
-
-#include "mbed.h"
-#include "RF12B.h"
-#include "globals.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 mm
-     */
-    float read0();
-    float read1();
-    float read2();
-    float read(unsigned int beaconnum);
-
-    
-    /** 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, float variance);
-    
-    //triggers a read
-    #ifndef ROBOT_PRIMARY
-    void startRange(unsigned char rx_code);
-    #endif
-    
-    //set codes
-    void setCode(int code_index, unsigned char code);
-    unsigned char codes[3];
-
-    /** 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;
-    #ifdef ROBOT_PRIMARY
-    void _startRange(void);
-    #endif
-    void _rising (void);
-    void _falling (void);
-    float _dist[3];
-    int _beacon_counter;
-    bool ValidPulse;
-    bool expValidPulse;
-    
-};
-
-#endif