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 | |
481b24d3 |
21 | int count = 0; |
22 | |
23 | void on(int pin){ |
24 | digitalWrite(pin, HIGH);} |
25 | |
26 | void off(int pin){ |
27 | digitalWrite(pin, LOW);} |
28 | |
29 | int ping(int trigger, int echo){ |
30 | int ping_time = 0; |
31 | // turn off trigger |
32 | off(trigger); |
33 | delayMicroseconds(2); |
34 | // turn on the trigger and leave it on long enough for the |
35 | // sonar sensor to notice |
36 | on(trigger); |
37 | delayMicroseconds(10); |
38 | off(trigger); |
39 | ping_time = pulseIn(echo, HIGH); |
40 | if(ping_time <= 0){ |
41 | ping_time = 3000;} |
42 | // sonar needs some time to recover before pinging again, |
43 | // so make sure it gets enough sleep right here. 50 milliseconds |
44 | delay(50); |
45 | return ping_time;} |
46 | |
13334679 |
47 | double ping_to_cm(int ping_microseconds){ |
35ffc343 |
48 | double sound_cm_per_microsecond_at_sea_level = 0.034029; |
13334679 |
49 | return ping_microseconds * sound_cm_per_microsecond_at_sea_level / 2;} |
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50 | |
481b24d3 |
51 | void setup(){ |
52 | Serial.begin(9600); |
53 | pinMode(right_echo_pin, INPUT); |
54 | pinMode(right_trigger_pin, OUTPUT); |
55 | pinMode(left_echo_pin, INPUT); |
56 | pinMode(left_trigger_pin, OUTPUT);} |
57 | |
58 | void loop(){ |
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59 | int left_ping_microseconds; |
60 | int right_ping_microseconds; |
61 | double left_distance; |
62 | double right_distance; |
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63 | left_ping_microseconds = ping(left_trigger_pin, left_echo_pin); |
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64 | right_ping_microseconds = ping(right_trigger_pin, right_echo_pin); |
65 | left_distance = ping_to_cm(left_ping_microseconds); |
66 | right_distance = ping_to_cm(right_ping_microseconds); |
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67 | // print out the pulse time |
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68 | Serial.print(left_distance); |
69 | Serial.print(" = left distance (cm), "); |
70 | Serial.print(right_distance); |
71 | Serial.print(" = right distance (cm). line #"); |
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72 | Serial.println(count++); |
73 | |
74 | // wait so it's easier to read the serial monitor. |
75 | // change delay to 0 for fullspeed. |
76 | // default is 333, which is about 1/3 of a second |
77 | delay(333);} |