Revision 0:05c9036328ee, committed 2012-07-04

Comitter:

NickRyder

Date:

Wed Jul 04 15:55:50 2012 +0000

Child:

1:cf496fb70317

Commit message:

Released under MIT license.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RangeFinder.cpp	Wed Jul 04 15:55:50 2012 +0000
@@ -0,0 +1,39 @@
+/* Copyright (c) 2012 Nick Ryder, University of Oxford
+ * nick.ryder@physics.ox.ac.uk
+ *
+ *  MIT License
+ *
+ * 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.
+ */
+ 
+ 
+ #include "RangeFinder.h"
+
+RangeFinder::RangeFinder(PinName pin, int pulsetime, float scale, int time):
+    pio(pin), scale(scale), pulsetime(pulsetime), timeout(time)  {
+}
+
+RangeFinder::~RangeFinder() {
+}
+
+float RangeFinder::read_m()  {
+    pio.write_us(1, pulsetime);
+    float t = (float) pio.read_high_us(timeout);
+    if (t == -1.0)   {
+        return -1.0;
+    }
+    return t / scale;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RangeFinder.h	Wed Jul 04 15:55:50 2012 +0000
@@ -0,0 +1,49 @@
+/* Copyright (c) 2012 Nick Ryder, University of Oxford
+ * nick.ryder@physics.ox.ac.uk
+ *
+ *  MIT License
+ *
+ * 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_RANGEFINDER_H
+#define MBED_RANGEFINDER_H
+
+#include "Pulse.h"
+
+/** Range Finder class
+*/
+
+class RangeFinder   {
+    public:
+        /** Create a RangeFinder object
+        * @param pin Digital I/O pin the range finder is connected to.
+        * @param pulsetime Time of pulse to send to the rangefinder to trigger a measurement, in microseconds.
+        * @param scale Scaling of the range finder's output pulse from microseconds to metres.
+        * @param timeout Time to wait for a pulse from the range finder before giving up.
+        */
+        RangeFinder(PinName pin, int pulsetime, float scale, int timeout);
+        ~RangeFinder();
+        /** Return the distance to the nearest object, or -1.0 if reading the pulse timed out.
+        */
+        float read_m();
+    private:
+        PulseInOut pio;
+        float scale;
+        int pulsetime, timeout;
+};
+
+#endif
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