WALL-E Version 1.0
The "WALL-E" Project is a ME 507 quarter term project inspired to recreate the robot WALL-E. The WALL-E robot is a fully 3D printed robot with modified components in order to fit the needs of the chosen peripherals and electronics. WALL-E contains a custom made PCB which is housed in the main body of WALL-E. WALL-E's peripherals and components include 2 pololu Romi Motors with encoders, 4 MG90s servos, BNO055 IMU, and a OV2640 ArduCam camera. The objective of WALL-E is to scan the surrounding area for the closest object to it. Once that object is detected, WALL-E drives up to the object, attempts to pick up or hold the object and detect the color of the object.
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hcsr04.h
Go to the documentation of this file.
1/* USER CODE BEGIN Header */
20
21#ifndef INC_HCSR04_H_
22#define INC_HCSR04_H_
23
24#include "stm32f4xx_hal.h"
25
29class HCSR04 {
30 public:
31 HCSR04(GPIO_TypeDef* trigPort, uint16_t trigPin,
32 GPIO_TypeDef* echoPort, uint16_t echoPin,
33 TIM_HandleTypeDef* htim);
34
35 void trigger(); // Triggers a measurement
36 bool measure(); // Performs blocking measurement
37 uint32_t getDistanceCm(); // Returns distance in cm
38
39 private:
43 GPIO_TypeDef* trigPort;
44
48 uint16_t trigPin;
49
53 GPIO_TypeDef* echoPort;
54
58 uint16_t echoPin;
59
63 TIM_HandleTypeDef* htim;
64
68 uint32_t distanceCm;
69};
70
71#endif /* INC_HCS04_H_ */
HCSR04::measure
bool measure()
Function if the sensor is ready to measure the function triggers then calculates the distance an obje...
Definition hcsr04.cpp:56
HCSR04::distanceCm
uint32_t distanceCm
Definition hcsr04.h:68
HCSR04::trigPin
uint16_t trigPin
Definition hcsr04.h:48
HCSR04::htim
TIM_HandleTypeDef * htim
Definition hcsr04.h:63
HCSR04::getDistanceCm
uint32_t getDistanceCm()
Function allows the user to extract the Distance in cm the object is.
Definition hcsr04.cpp:85
HCSR04::HCSR04
HCSR04(GPIO_TypeDef *trigPort, uint16_t trigPin, GPIO_TypeDef *echoPort, uint16_t echoPin, TIM_HandleTypeDef *htim)
Constructor Function that initializes the class variables/instances.
Definition hcsr04.cpp:26
HCSR04::echoPin
uint16_t echoPin
Definition hcsr04.h:58
HCSR04::echoPort
GPIO_TypeDef * echoPort
Definition hcsr04.h:53
HCSR04::trigPort
GPIO_TypeDef * trigPort
Definition hcsr04.h:43
HCSR04::trigger
void trigger()
Function Triggers the 10us Pulse on the trigger pin to be read from the echo pin.
Definition hcsr04.cpp:41