481b24d3 |
1 | /* |
2 | This program is free software: you can redistribute it and/or modify |
3 | it under the terms of the GNU Affero General Public License as |
4 | published by the Free Software Foundation, either version 3 of the |
5 | License, or (at your option) any later version. |
6 | |
7 | This program is distributed in the hope that it will be useful, |
8 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
9 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
10 | GNU Affero General Public License for more details. |
11 | |
12 | You should have received a copy of the GNU Affero General Public License |
13 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
14 | */ |
15 | int right_echo_pin = 6; |
16 | int right_trigger_pin = 7; |
17 | |
18 | int left_echo_pin = 11; |
19 | int left_trigger_pin = 12; |
20 | |
21 | int right_ping_microseconds = 0; |
22 | int left_ping_microseconds = 0; |
23 | double sound_cm_per_microsecond_at_sea_level = 0.034029; |
24 | int count = 0; |
25 | |
26 | void on(int pin){ |
27 | digitalWrite(pin, HIGH);} |
28 | |
29 | void off(int pin){ |
30 | digitalWrite(pin, LOW);} |
31 | |
32 | int ping(int trigger, int echo){ |
33 | int ping_time = 0; |
34 | // turn off trigger |
35 | off(trigger); |
36 | delayMicroseconds(2); |
37 | // turn on the trigger and leave it on long enough for the |
38 | // sonar sensor to notice |
39 | on(trigger); |
40 | delayMicroseconds(10); |
41 | off(trigger); |
42 | ping_time = pulseIn(echo, HIGH); |
43 | if(ping_time <= 0){ |
44 | ping_time = 3000;} |
45 | // sonar needs some time to recover before pinging again, |
46 | // so make sure it gets enough sleep right here. 50 milliseconds |
47 | delay(50); |
48 | return ping_time;} |
49 | |
50 | void setup(){ |
51 | Serial.begin(9600); |
52 | pinMode(right_echo_pin, INPUT); |
53 | pinMode(right_trigger_pin, OUTPUT); |
54 | pinMode(left_echo_pin, INPUT); |
55 | pinMode(left_trigger_pin, OUTPUT);} |
56 | |
57 | void loop(){ |
58 | right_ping_microseconds = ping(right_trigger_pin, right_echo_pin); |
59 | left_ping_microseconds = ping(left_trigger_pin, left_echo_pin); |
60 | // print out the pulse time |
61 | Serial.print(right_ping_microseconds); |
62 | Serial.print(" = right ping microseconds, "); |
63 | Serial.print(left_ping_microseconds); |
64 | Serial.print(" = left ping microseconds. #"); |
65 | Serial.println(count++); |
66 | |
67 | // wait so it's easier to read the serial monitor. |
68 | // change delay to 0 for fullspeed. |
69 | // default is 333, which is about 1/3 of a second |
70 | delay(333);} |