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127 lines
3.5 KiB
127 lines
3.5 KiB
// -----------------------------------------------------------------------------
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// HC-SR04 Ultrasonic sensor
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// Copyright (C) 2018 by Xose Pérez <xose dot perez at gmail dot com>
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// -----------------------------------------------------------------------------
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#if SENSOR_SUPPORT && SONAR_SUPPORT
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#pragma once
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#include "Arduino.h"
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#include "BaseSensor.h"
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#include "NewPing.h"
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class SonarSensor : public BaseSensor {
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public:
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// ---------------------------------------------------------------------
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// Public
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// ---------------------------------------------------------------------
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SonarSensor(): BaseSensor() {
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_count = 1;
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_sensor_id = SENSOR_SONAR_ID;
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}
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// ---------------------------------------------------------------------
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// Echo pin.
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void setEcho(unsigned char echo) {
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_echo = echo;
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}
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// Number of iterations to ping in order to filter out erroneous readings
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// using a digital filter.
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void setIterations(unsigned int iterations) {
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_iterations = iterations;
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}
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// Max sensor distance in centimeters.
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void setMaxDistance(unsigned int distance) {
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_max_distance = distance;
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}
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// Trigger pin.
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void setTrigger(unsigned char trigger) {
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_trigger = trigger;
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}
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// ---------------------------------------------------------------------
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unsigned char getEcho() {
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return _echo;
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}
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unsigned char getTrigger() {
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return _trigger;
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}
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unsigned int getMaxDistance() {
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return _max_distance;
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}
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unsigned int getIterations() {
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return _iterations;
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}
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// ---------------------------------------------------------------------
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// Sensor API
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// ---------------------------------------------------------------------
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// Initialization method, must be idempotent
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void begin() {
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_sonar = new NewPing(getTrigger(), getEcho(), getMaxDistance());
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_ready = true;
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}
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// Descriptive name of the sensor
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String description() {
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char buffer[23];
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snprintf(buffer, sizeof(buffer), "Sonar @ GPIO(%u, %u)", _trigger, _echo);
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return String(buffer);
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}
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// Descriptive name of the slot # index
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String slot(unsigned char index) {
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return description();
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};
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// Address of the sensor (it could be the GPIO or I2C address)
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String address(unsigned char index) {
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return String(_trigger);
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}
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// Type for slot # index
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unsigned char type(unsigned char index) {
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if (index == 0) return MAGNITUDE_DISTANCE;
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return MAGNITUDE_NONE;
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}
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// Current value for slot # index
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double value(unsigned char index) {
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if (index != 0) return 0;
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if (getIterations() > 0) {
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return NewPing::convert_cm(_sonar->ping_median(getIterations())) / 100.0;
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}
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return _sonar->ping_cm() / 100.0;
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}
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protected:
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// ---------------------------------------------------------------------
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// Protected
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// ---------------------------------------------------------------------
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unsigned char _trigger;
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unsigned char _echo;
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unsigned int _max_distance;
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unsigned int _iterations;
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NewPing * _sonar = NULL;
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};
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#endif // SENSOR_SUPPORT && SONAR_SUPPORT
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