sonar.cpp File Reference

#include <NewPing.h>
#include <sonar.h>

Include dependency graph for sonar.cpp:

Go to the source code of this file.

Defines
#define	MAX_DISTANCE   200
	maximum distance to ping (cm)
#define	N_SONARS   3
	number of sonars
Functions
void	timer_event ()
Variables
static NewPing	sonar [N_SONARS]
static uint8_t	static_current = N_SONARS
	currently active sonar
static unsigned int	static_distance
	distance of current ping

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Detailed Description

Sonar implementation for Segbot version 2.

This program is driven by timer events. On a 30Hz cycle, it sends any previous results in a serial message, then pings the next sonar in a round-robin fashion.

Definition in file sonar.cpp.

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Define Documentation

#define MAX_DISTANCE   200

maximum distance to ping (cm)

Definition at line 48 of file sonar.cpp.

#define N_SONARS   3

number of sonars

Definition at line 49 of file sonar.cpp.

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Function Documentation

void timer_event

(

)

Timer interrupt handler.

If ping has completed, set the current distance.

This should be a class member function, but it is static because the NewPing and Arduino timer interfaces only allow static functions.

Definition at line 73 of file sonar.cpp.

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Variable Documentation

NewPing sonar[N_SONARS] [static]

Initial value:

  {
    NewPing(30, 4, MAX_DISTANCE),
    NewPing(28, 3, MAX_DISTANCE),
    NewPing(26, 2, MAX_DISTANCE),
  }

Each sonar with trigger pin, echo pin, and max distance.

Definition at line 52 of file sonar.cpp.

uint8_t static_current = N_SONARS [static]

currently active sonar

Definition at line 62 of file sonar.cpp.

unsigned int static_distance [static]

distance of current ping

Definition at line 63 of file sonar.cpp.