//boolean S == Scale. True == Farenheit; False == Celcius
float EchoRange::readDistance(bool S) {
float f;
//digitalWrite(2, HIGH);
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
float duration, inches, cm;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(m_trigPin, OUTPUT);// attach pin 3 to Trig
digitalWrite(m_trigPin, LOW);
delayMicroseconds(2);
digitalWrite(m_trigPin, HIGH);
delayMicroseconds(5);
digitalWrite(m_trigPin, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode (m_echoPin, INPUT);//attach pin 4 to Echo
duration = pulseIn(m_echoPin, HIGH);
// convert the time into a distance
//inches = microsecondsToInches(duration);
cm = microsecondsToCentimeters(duration);
return cm;
}
// 超音波センサからデータ取得．PingあるいはSeedo studioの超音波センサしか使えない．
unsigned int getPing(int pos)
{
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, cm;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(PING_PIN[pos], OUTPUT);
digitalWrite(PING_PIN[pos], LOW);
delayMicroseconds(2);
digitalWrite(PING_PIN[pos], HIGH);
delayMicroseconds(5);
digitalWrite(PING_PIN[pos], LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(PING_PIN[pos], INPUT);
duration = pulseIn(PING_PIN[pos], HIGH);
// convert the time into a distance
cm = microsecondsToCentimeters(duration);
// error
//if (cm > 400) cm = 999;
//if (cm <= 0) cm = 999;
return cm;
}
long PING::getDistance(){
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, cm;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
digitalWrite(pingTrig, LOW);
delayMicroseconds(2);
digitalWrite(pingTrig, HIGH);
delayMicroseconds(5);
digitalWrite(pingTrig, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(Echo, INPUT);
duration = pulseIn(Echo, HIGH);
// convert the time into a distance
cm = microsecondsToCentimeters(duration);
return cm;
}
long Ping::getDistance() {//inches
long time = getDuration();
if(units == INCHES) {
time = microsecondsToInches(time);
} else {
time = microsecondsToCentimeters(time);
}
return time;
}
void loop() {
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, inches, cm;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(10);
digitalWrite(pingPin, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(inPin, INPUT);
duration = pulseIn(inPin, HIGH);
// convert the time into a distance
inches = microsecondsToInches(duration);
cm = microsecondsToCentimeters(duration);
Serial.println(cm, DEC);
if (cm < 3) {
// play the note corresponding to this sensor:
tone(8, notes[4], 30);
}
if ((cm >= 3) && (cm <= 9)) {
// play the note corresponding to this sensor:
tone(8, notes[0], 30);
}
if ((cm >= 10) && (cm <= 19)) {
// play the note corresponding to this sensor:
tone(8, notes[1], 30);
}
if ((cm >= 20) && (cm <= 29)) {
// play the note corresponding to this sensor:
tone(8, notes[2], 30);
}
if ((cm >= 30) && (cm <= 49)) {
// play the note corresponding to this sensor:
tone(8, notes[3], 30);
}
delay(100);
}
long UltrasonicSensor::distanceInCentimeters () {
long duration;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(_trigger, OUTPUT);
digitalWrite(_trigger, LOW);
delayMicroseconds(2);
digitalWrite(_trigger, HIGH);
delayMicroseconds(5);
digitalWrite(_trigger, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(_echo, INPUT);
duration = pulseIn(_echo, HIGH);
// convert the time into a distance
return microsecondsToCentimeters(duration);
}
void loopUltra()
{
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, inches, cm;
if (intervalStarted) {
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(sonarPin, OUTPUT);
digitalWrite(sonarPin, LOW);
delayMicroseconds(2);
digitalWrite(sonarPin, HIGH);
delayMicroseconds(15);
digitalWrite(sonarPin, LOW);
delayMicroseconds(20);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(sonarPin, INPUT);
duration = pulseIn(sonarPin, HIGH);
// convert the time into a distance
cm = microsecondsToCentimeters(duration);
// put data into message
range_msg_sonar.radiation_type = sensor_msgs::Range::ULTRASOUND;
range_msg_sonar.header.frame_id = "/ultraSonic"; // frame
range_msg_sonar.header.stamp = nh.now(); // time
range_msg_sonar.field_of_view = 60.0 / 360 * 3.14; // [rad]
range_msg_sonar.min_range = 0.03; // [m]
range_msg_sonar.max_range = 4.0; // [m]
range_msg_sonar.range = cm / 100.0; // [m]
// publish
pub_range.publish(&range_msg_sonar);
}
}
long Sonar::getCmSampled(long samples) {
return microsecondsToCentimeters(this->getRawSampled(samples));
}
long Sonar::getCm() {
return microsecondsToCentimeters(this->getRaw());
}
