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/*
*@File : DFRobot_Distance_A02.ino
*@Brief : This example use A02YYUW ultrasonic sensor to measure distance
* With initialization completed, We can get distance value
*@Copyright [DFRobot](https://www.dfrobot.com),2016
* GUN Lesser General Pulic License
*@version V1.0
*@data 2019-8-28
*/
#include <SoftwareSerial.h>
SoftwareSerial mySerial(11,10); // RX, TX
unsigned char data[4]={};
float distance;
SoftwareSerial mySerial1(8,7); // RX, TX
unsigned char data1[4]={};
float distance1;
SoftwareSerial mySerial2(5,4); // RX, TX
unsigned char data2[4]={};
float distance2;
void setup()
{
Serial.begin(57600);
mySerial.begin(9600);
mySerial1.begin(9600);
mySerial2.begin(9600);
}
void loop()
{
mySerial.listen();
delay(100);
if (mySerial.isListening()) {
while ((mySerial.available() > 0)) {
do{
for(int i=0;i<4;i++)
{
data[i]=mySerial.read();
}
}while(mySerial.read()==0xff);
mySerial.flush();
if(data[0]==0xff){
int sum;
sum=(data[0]+data[1]+data[2])&0x00FF;
if(sum==data[3])
{
distance=(data[1]<<8)+data[2];
if(distance>30)
{
int distance = distance/10;
}else
{
distance = -1;
}
}else distance = -2;
}
}
}else{
distance = -3;
}
mySerial1.listen();
delay(100);
if (mySerial1.isListening()) {
while ((mySerial1.available() > 0)) {
do{
for(int i=0;i<4;i++)
{
data1[i]=mySerial1.read();
}
}while(mySerial1.read()==0xff);
mySerial1.flush();
if(data1[0]==0xff){
int sum1;
sum1=(data1[0]+data1[1]+data1[2])&0x00FF;
if(sum1==data1[3])
{
distance1=(data1[1]<<8)+data1[2];
if(distance1>30)
{
int distance1 = distance1/10;
}else
{
distance1 = -1;
}
}else distance1 = -2;
}
}
}else{
distance1 = -3;
}
mySerial2.listen();
delay(100);
if (mySerial2.isListening()) {
while ((mySerial2.available() > 0)) {
do{
for(int i=0;i<4;i++)
{
data2[i]=mySerial2.read();
}
}while(mySerial2.read()==0xff);
mySerial2.flush();
if(data2[0]==0xff){
int sum2;
sum2=(data2[0]+data2[1]+data2[2])&0x00FF;
if(sum2==data2[3])
{
distance2=(data2[1]<<8)+data2[2];
if(distance2>30)
{
int distance2 = distance2/10;
}else
{
distance2 = -1;
}
}else distance2 = -2;
}
}
}else{
distance2 = -3;
}
Serial.println((String) distance + " " + distance1 + " " + distance2);
memset(data, 0, sizeof(data));
memset(data1, 0, sizeof(data1));
memset(data2, 0, sizeof(data2));
int sum=0;
int sum1=0;
int sum2=0;
distance=0;
distance1=0;
distance2=0;
}
#!/usr/bin/env python
import serial as sr
import time
import sys
debug = int(sys.argv[1])
sensorNum = str(sys.argv[2])
delay = int(sys.argv[3])
if delay > 0 :
time.sleep(delay)
port_serie = sr.Serial(port = "/dev/ttyUSB0", baudrate = "57600")
port_serie.setDTR(False)
time.sleep(0.1)
port_serie.setDTR(True)
port_serie.flushInput()
if debug == 1:
print(port_serie.readline())
else:
val = port_serie.readline().split()
if sensorNum == "sensor1":
sensor = val[0]
elif sensorNum == "sensor2":
sensor = val[1]
else:
sensor = val[2]
print(int(float(sensor)))
port_serie.close()
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