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92 lines
2.0 KiB
92 lines
2.0 KiB
3 years ago
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#ifndef SR04_H
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#define SR04_H
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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//#include "pins_arduino.h"
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#include <inttypes.h>
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#define PULSE_TIMEOUT 150000L // 100ms
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#define DEFAULT_DELAY 10
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#define DEFAULT_PINGS 5
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class SR04 {
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public:
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/**
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* Constructor
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* Ultrasonic sensor SR04, four connections pins
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* VCC, ECHO, TRIGGER, GND
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* <br>
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* \param echoPin digital INPUT-Pin for measuring distance
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* \param triggerPin if 10us high a trigger signal is generated from
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* SR04
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*
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* \return void
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*/
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SR04(int echoPin, int triggerPin);
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/**
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* Do a measurment for this sensor. Return distance as long
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* in centimenter
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* \return long distance in centimeter
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*/
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long Distance();
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/**
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* Do count measurents and calculate the average.
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* To avoid defilement from ow/high peaks, min/max values
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* are substracted from the average
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*
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* \param wait delay between measurements, default = DEFAULT_DELAY/ms
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* \param count number of measurements, default DEFAULT_PINGS
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* \return long distance in centimeter
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**/
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long DistanceAvg(int wait=DEFAULT_DELAY, int count=DEFAULT_PINGS);
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/**
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* Do only a ping. Get result with methode getDistance()
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*
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* \param keine
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*/
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void Ping() ;
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/**
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* return latest distance. Methode Ping() should be called before
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* \param keine
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* \return Distanz in Zentimeter
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*/
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long getDistance();
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private:
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/**
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* Do the measurement calculation and return result in centimeter
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* SR04 measure echo time to obstacle and return way.
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* <br>
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* Sound travels with 340m/sec
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* <br>
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* Example: Obstace 100cm away from SR04. Measure time is 100cm to
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* obstacle and 100cm return = 200cm
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* <br>
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* 1sec = 1000ms = 1.000.000uS
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* 1.000.000 / 340 = Distance in microseconds for 100cm
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* 2941uS fuer 100cm = 5882 uS fuer 200cm
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*
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* duration / 5882 * 100 = distance in cm
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*/
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long MicrosecondsToCentimeter(long duration);
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long _currentDistance;
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int _echoPin, _triggerPin;
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long _duration, _distance;
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bool _autoMode;
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};
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#endif
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