New version of quadcopter software written to OO principles
Dependencies: mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS
Diff: Sensors/LidarLitePwm/LidarLitePwm.h
- Revision:
- 4:9ffbf9101992
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sensors/LidarLitePwm/LidarLitePwm.h Fri May 08 09:07:38 2015 +0000 @@ -0,0 +1,39 @@ +#include "mbed.h" +#include "filter.h" + +#ifndef LidarLitePwm_H +#define LidarLitePwm_H + +class LidarLitePwm +{ + public: + LidarLitePwm(PinName input); + ~LidarLitePwm(); + + /// Returns range in cm as int + int read(); + + + /// Returns the range in CM as an int + operator int(); + + private: + + /// Inturrupt at start of pulse + void pulseStart(); + /// Interrupt at end of pulse + void pulseStop(); + + /// Interrupt driver for the input pin + InterruptIn _interrupt; + /// Timer + Timer _timer; + /// Time of the start of the current pulse + int _pulseStartTime; + /// The most recent sample + int _range; + + filter* _lidarFilter; +}; + +#endif \ No newline at end of file