Diff: RFSRF05.h

Revision:

1:0370ea94b64a

Parent:

0:7583de124698

--- a/RFSRF05.h	Fri Mar 30 19:44:25 2012 +0000
+++ b/RFSRF05.h	Thu Apr 26 17:50:00 2012 +0000
@@ -2,8 +2,12 @@
 #ifndef MBED_RFSRF05_H
 #define MBED_RFSRF05_H
 
+
+
 #include "mbed.h"
 #include "RF12B.h"
+#include "globals.h"
+
 
 #define CODE0 0x22
 #define CODE1 0x44
@@ -47,23 +51,30 @@
     
     /** A non-blocking function that will return the last measurement
      *
-     * @returns floating point representation of distance in cm
+     * @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);
+    void (DummyCT::*mcallbackfunc)(int beaconnum, float distance, float variance);
     
     //triggers a read
-    void startRange();
+    #ifndef PRIMARY_ROBOT
+    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();
+    //operator float();
     
 private :
     RF12B _rf;
@@ -76,10 +87,12 @@
     InterruptIn _echo5;
     Timer _timer;
     Ticker _ticker;
+    #ifdef PRIMARY_ROBOT
+    void _startRange(void);
+    #endif
     void _rising (void);
     void _falling (void);
     float _dist[3];
-    char _code[3];
     int _beacon_counter;
     bool ValidPulse;
     bool expValidPulse;