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- // -----------------------------------------------------------------------------
- // HC-SR04, SRF05, SRF06, DYP-ME007, JSN-SR04T & Parallax PING)))™
- // Copyright (C) 2019 by Xose Pérez <xose dot perez at gmail dot com>
- // Enhancements by Rui Marinho
- // -----------------------------------------------------------------------------
-
- #if SENSOR_SUPPORT && SONAR_SUPPORT
-
- #pragma once
-
- #include "Arduino.h"
- #include "BaseSensor.h"
- #include "NewPing.h"
-
- class SonarSensor : public BaseSensor {
-
- public:
-
- // ---------------------------------------------------------------------
- // Public
- // ---------------------------------------------------------------------
-
- SonarSensor(): BaseSensor() {
- _count = 1;
- _sensor_id = SENSOR_SONAR_ID;
- }
-
- // ---------------------------------------------------------------------
-
- // Echo pin.
- void setEcho(unsigned char echo) {
- _echo = echo;
- }
-
- // Number of iterations to ping in order to filter out erroneous readings
- // using a digital filter.
- void setIterations(unsigned int iterations) {
- _iterations = iterations;
- }
-
- // Max sensor distance in centimeters.
- void setMaxDistance(unsigned int distance) {
- _max_distance = distance;
- }
-
- // Trigger pin.
- void setTrigger(unsigned char trigger) {
- _trigger = trigger;
- }
-
- // ---------------------------------------------------------------------
-
- unsigned char getEcho() {
- return _echo;
- }
-
- unsigned char getTrigger() {
- return _trigger;
- }
-
- unsigned int getMaxDistance() {
- return _max_distance;
- }
-
- unsigned int getIterations() {
- return _iterations;
- }
-
- // ---------------------------------------------------------------------
- // Sensor API
- // ---------------------------------------------------------------------
-
- // Initialization method, must be idempotent
- void begin() {
- _sonar = new NewPing(getTrigger(), getEcho(), getMaxDistance());
- _ready = true;
- }
-
- // Descriptive name of the sensor
- String description() {
- char buffer[23];
- snprintf(buffer, sizeof(buffer), "Sonar @ GPIO(%u, %u)", _trigger, _echo);
- return String(buffer);
- }
-
- // Descriptive name of the slot # index
- String slot(unsigned char index) {
- return description();
- };
-
- // Address of the sensor (it could be the GPIO or I2C address)
- String address(unsigned char index) {
- return String(_trigger);
- }
-
- // Type for slot # index
- unsigned char type(unsigned char index) {
- if (index == 0) return MAGNITUDE_DISTANCE;
- return MAGNITUDE_NONE;
- }
-
- // Current value for slot # index
- double value(unsigned char index) {
- if (index != 0) return 0;
- if (getIterations() > 0) {
- return NewPing::convert_cm(_sonar->ping_median(getIterations())) / 100.0;
- }
- return _sonar->ping_cm() / 100.0;
- }
-
-
- protected:
-
- // ---------------------------------------------------------------------
- // Protected
- // ---------------------------------------------------------------------
-
- unsigned char _trigger;
- unsigned char _echo;
- unsigned int _max_distance;
- unsigned int _iterations;
- NewPing * _sonar = NULL;
-
- };
-
- #endif // SENSOR_SUPPORT && SONAR_SUPPORT
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