You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
126 lines
3.6 KiB
126 lines
3.6 KiB
// -----------------------------------------------------------------------------
|
|
// 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 <NewPing.h>
|
|
|
|
#include "BaseSensor.h"
|
|
|
|
class SonarSensor : public BaseSensor {
|
|
|
|
public:
|
|
|
|
// ---------------------------------------------------------------------
|
|
// Public
|
|
// ---------------------------------------------------------------------
|
|
|
|
SonarSensor() {
|
|
_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 description(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
|