Diff: SonicDist.cpp

Revision:

3:b22567a5f7d6

Child:

4:84f4fa630726

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SonicDist.cpp	Sat Jul 09 15:10:17 2016 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+#include "SonicDist.h"
+SonicDist::SonicDist(PinName Trig, PinName Echo){
+    trig=new DigitalOut(Trig);
+    echopin=Echo;
+   // echo=new InterruptIn(Echo);
+    soundspeed=340;
+    startflag=false;
+    trig->write(1);
+    setmeasure=true;
+}
+void SonicDist::init(void){
+    DigitalIn Ec(echopin);
+    echotime.stop();
+    echotime.reset();
+     trig->write(1);
+        wait(0.000010);
+        trig->write(0);
+        wait(0.000014);
+        trig->write(1);
+    while(Ec==0);
+    SonicDist::StartMeasure();
+    while(Ec==1||(double)echotime.read()<0.007);
+    SonicDist::endMeasure();
+   // Ec.dispose();
+    echo=new InterruptIn(echopin);
+    echo->rise( this, &SonicDist::StartMeasure );
+    echo->fall( this, &SonicDist::endMeasure );
+    SonicDist::setTrig();
+}
+void SonicDist::StartMeasure(void){
+    echotime.reset();
+    echotime.start();
+    startflag=true;
+}
+void SonicDist::endMeasure(void){
+    SonicDist::CalcDist();
+    systime.detach();
+    SonicDist::setTrig();
+}
+void SonicDist::CalcDist(void){
+    if(startflag){
+        echotime.stop();
+        dist=echotime.read()*soundspeed*1000/2;//mmで出力
+        startflag=false;
+    }
+}
+void SonicDist::setTrig(void){
+    trig->write(0);
+   systime.attach(this,&SonicDist::releaseTrig, 0.000014);
+}
+void SonicDist::releaseTrig(void){
+    trig->write(1);
+    systime.attach(this,&SonicDist::timeout, 0.007);
+}
+void SonicDist::timeout(void){
+    SonicDist::CalcDist();
+    SonicDist::setTrig();
+    if(startflag){printf("a");}
+}
+double SonicDist::getDist(void){
+    if(setmeasure){
+        SonicDist::init();
+        setmeasure=false;
+    }
+   return (double)dist/10; 
+}
+double SonicDist::getDist_mm(void){
+   if(setmeasure){
+        SonicDist::init();
+        setmeasure=false;
+    }
+   return dist; 
+}