long Ultrasonic::timing()
{
TRIG_PORT &= ~(1 << TRIG_PIN); //digitalWrite(_trigPin, LOW);
_delay_us(2);
TRIG_PORT |= (1 << TRIG_PIN); //digitalWrite(_trigPin, HIGH);
_delay_us(10);
TRIG_PORT &= ~(1 << TRIG_PIN); //digitalWrite(_trigPin, LOW);
return _pulseIn(HIGH, SONAR_TOUT);
}
unsigned long Encoder::pulseIn(uint8_t pin, uint8_t state, unsigned long timeout) {
return (_pulseIn(pin, state, timeout)/100L);
}
unsigned long Encoder::pulseInNanoseconds(uint8_t pin, uint8_t state, unsigned long timeout) {
return (_pulseIn(pin, state, timeout)*10L);
}
unsigned long Encoder::pulseIn(uint8_t pin, uint8_t state) {
return (_pulseIn(pin, state, 0L)/100L);
}