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@kelliott121
Created May 29, 2016
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#include "Arduino.h"
#include "HCSR04.h"
HCSR04::HCSR04(uint8_t triggerPin, uint8_t echoPin)
{
pinMode(triggerPin, OUTPUT);
pinMode(echoPin, INPUT);
_triggerPin = triggerPin;
_echoPin = echoPin;
_timeout = 24000;
}
HCSR04::HCSR04(uint8_t triggerPin, uint8_t echoPin, uint32_t timeout)
{
pinMode(triggerPin, OUTPUT);
pinMode(echoPin, INPUT);
_triggerPin = triggerPin;
_echoPin = echoPin;
_timeout = timeout;
}
uint32_t HCSR04::timing()
{
uint32_t duration;
digitalWrite(_triggerPin, LOW);
delayMicroseconds(2);
digitalWrite(_triggerPin, HIGH);
delayMicroseconds(10);
digitalWrite(_triggerPin, LOW);
duration = pulseIn(_echoPin, HIGH, _timeout);
if (duration == 0)
{
duration = _timeout;
}
return duration;
}
uint16_t HCSR04::getDistance(uint8_t units, uint8_t samples)
{
uint32_t duration = 0;
uint16_t distance;
for (uint8_t i = 0; i < samples; i++)
{
duration += timing();
}
duration /= samples;
if (units == CM)
{
distance = duration / 29 / 2 ;
}
else if (units == INCH)
{
distance = duration / 74 / 2;
}
return distance;
}
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