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4ca399845f
The module supports the LV-MaxSonar EZ1, EZ2, EZ3 and EZ4 ultrasonic range finders. It was developed and tested on the EZ3 variant. Signed-off-by: Jon Trulson <jtrulson@ics.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
98 lines
2.8 KiB
C++
98 lines
2.8 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <iostream>
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#include <string>
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#include <mraa/aio.h>
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// EZ series is volts/512
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#define MAXSONAREZ_RES 512
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namespace upm {
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/**
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* @brief UPM library for the MaxSonar-EZ family of ultrasonic rangers
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* @defgroup maxsonarez libupm-maxsonarez
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* @ingroup seeed analog sound
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*/
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/**
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* @library maxsonarez
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* @sensor maxsonarez
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* @comname LV-MaxSonar-EZ family of ultrasonic rangers
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* @altname EZ1, EZ2, EZ3, EZ4
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* @type sound
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* @man sparkfun
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* @con analog
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*
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* @brief C++ API for the LV-MaxSonar-EZ family of ultrasonic rangers
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*
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* This sensor family returns an analog voltage corresponding to the
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* distance of an object from the sensor in inches. It has a
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* resolution of about 9.7 millivolts per inch with a 5.0 AREF. The
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* differences between the various versions (EZ1, EZ2, etc) are
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* related to the narrowness of the beam angle.
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*
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* This class supports these sensors with an analog input only.
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*
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* This driver was developed using an LV-MaxSonar-EZ3.
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*
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* @snippet maxsonarez.cxx Interesting
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*/
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class MAXSONAREZ {
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public:
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/**
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* MAXSONAREZ sensor constructor
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*
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* @param pin analog pin to use
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* @param aref the analog reference voltage, default: 5.0
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*/
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MAXSONAREZ(int pin, float aref=5.0);
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/**
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* MAXSONAREZ Destructor
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*/
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~MAXSONAREZ();
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/**
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* get the distance to the object in inches
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*
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* @return the distance to the object in inches
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*/
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int inches();
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private:
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mraa_aio_context m_aio;
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float m_aref;
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// ADC resolution
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int m_aRes;
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// computed Volts per Inch
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float m_vI;
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};
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}
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