init

2026-06-16 01:02:00 +02:00
commit d26fb721f9
11 changed files with 343 additions and 0 deletions
@@ -0,0 +1,29 @@
+#include "Sonar.h"
+
+Sonar::Sonar(int trigPin, int echoPin, long maxDistCm)
+  : _trigPin(trigPin), _echoPin(echoPin),
+    _maxDistCm(maxDistCm), _lastDistance(0) {
+  pinMode(_trigPin, OUTPUT);
+  pinMode(_echoPin, INPUT);
+}
+
+long Sonar::measure() {
+  digitalWrite(_trigPin, LOW);
+  delayMicroseconds(2);
+  digitalWrite(_trigPin, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(_trigPin, LOW);
+
+  long duration = pulseIn(_echoPin, HIGH);
+  _lastDistance = duration / 58;
+
+  if (_lastDistance > _maxDistCm) {
+    _lastDistance = _maxDistCm;
+  }
+
+  return _lastDistance;
+}
+
+long Sonar::getDistance() const {
+  return _lastDistance;
+}