68 lines
2.1 KiB
C++
68 lines
2.1 KiB
C++
#include "UltrasonicSensor.h"
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#include <Arduino.h>
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namespace RoboidControl {
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namespace Arduino {
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UltrasonicSensor::UltrasonicSensor(Participant* participant,
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unsigned char pinTrigger,
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unsigned char pinEcho)
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: TouchSensor(participant) {
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this->pinTrigger = pinTrigger;
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this->pinEcho = pinEcho;
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pinMode(pinTrigger, OUTPUT); // configure the trigger pin to output mode
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pinMode(pinEcho, INPUT); // configure the echo pin to input mode
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}
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float UltrasonicSensor::GetDistance() {
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// Start the ultrasonic 'ping'
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digitalWrite(pinTrigger, LOW);
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delayMicroseconds(5);
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digitalWrite(pinTrigger, HIGH);
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delayMicroseconds(10);
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digitalWrite(pinTrigger, LOW);
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// Measure the duration of the pulse on the echo pin
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float duration_us =
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pulseIn(pinEcho, HIGH, 100000); // the result is in microseconds
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// Calculate the distance:
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// * Duration should be divided by 2, because the ping goes to the object
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// and back again. The distance to the object is therefore half the duration
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// of the pulse: duration_us /= 2;
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// * Then we need to convert from microseconds to seconds: duration_sec =
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// duration_us / 1000000;
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// * Now we calculate the distance based on the speed of sound (340 m/s):
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// distance = duration_sec * 340;
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// * The result calculation is therefore:
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this->distance = duration_us / 2 / 1000000 * 340;
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// Filter faulty measurements. The sensor can often give values > 30 m which
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// are not correct
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// if (distance > 30)
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// distance = 0;
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this->touchedSomething |= (this->distance <= this->touchDistance);
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// std::cout << "Ultrasonic " << this->distance << " " <<
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// this->touchedSomething << "\n";
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return distance;
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}
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void UltrasonicSensor::Update(unsigned long currentTimeMs, bool recursive) {
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this->touchedSomething = false;
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GetDistance();
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Thing::Update(currentTimeMs, recursive);
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}
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// void UltrasonicSensor::ProcessBinary(char* bytes) {
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// this->touchedSomething = (bytes[0] == 1);
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// if (this->touchedSomething)
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// std::cout << "Touching something!\n";
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// }
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} // namespace Arduino
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} // namespace RoboidControl
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