arduino stuffs
Diffstat (limited to 'libraries/NewPing/examples/NewPing15SensorsTimer/NewPing15SensorsTimer.pde')
| -rw-r--r-- | libraries/NewPing/examples/NewPing15SensorsTimer/NewPing15SensorsTimer.pde | 78 |
1 files changed, 78 insertions, 0 deletions
diff --git a/libraries/NewPing/examples/NewPing15SensorsTimer/NewPing15SensorsTimer.pde b/libraries/NewPing/examples/NewPing15SensorsTimer/NewPing15SensorsTimer.pde new file mode 100644 index 0000000..a42c792 --- /dev/null +++ b/libraries/NewPing/examples/NewPing15SensorsTimer/NewPing15SensorsTimer.pde @@ -0,0 +1,78 @@ +// --------------------------------------------------------------------------- +// Before attempting to use this sketch, please read the "Help with 15 Sensors Example Sketch": +// https://bitbucket.org/teckel12/arduino-new-ping/wiki/Help%20with%2015%20Sensors%20Example%20Sketch +// +// This example code was used to successfully communicate with 15 ultrasonic sensors. You can adjust +// the number of sensors in your project by changing SONAR_NUM and the number of NewPing objects in the +// "sonar" array. You also need to change the pins for each sensor for the NewPing objects. Each sensor +// is pinged at 33ms intervals. So, one cycle of all sensors takes 495ms (33 * 15 = 495ms). The results +// are sent to the "oneSensorCycle" function which currently just displays the distance data. Your project +// would normally process the sensor results in this function (for example, decide if a robot needs to +// turn and call the turn function). Keep in mind this example is event-driven. Your complete sketch needs +// to be written so there's no "delay" commands and the loop() cycles at faster than a 33ms rate. If other +// processes take longer than 33ms, you'll need to increase PING_INTERVAL so it doesn't get behind. +// --------------------------------------------------------------------------- +#include <NewPing.h> + +#define SONAR_NUM 15 // Number of sensors. +#define MAX_DISTANCE 200 // Maximum distance (in cm) to ping. +#define PING_INTERVAL 33 // Milliseconds between sensor pings (29ms is about the min to avoid cross-sensor echo). + +unsigned long pingTimer[SONAR_NUM]; // Holds the times when the next ping should happen for each sensor. +unsigned int cm[SONAR_NUM]; // Where the ping distances are stored. +uint8_t currentSensor = 0; // Keeps track of which sensor is active. + +NewPing sonar[SONAR_NUM] = { // Sensor object array. + NewPing(41, 42, MAX_DISTANCE), // Each sensor's trigger pin, echo pin, and max distance to ping. + NewPing(43, 44, MAX_DISTANCE), + NewPing(45, 20, MAX_DISTANCE), + NewPing(21, 22, MAX_DISTANCE), + NewPing(23, 24, MAX_DISTANCE), + NewPing(25, 26, MAX_DISTANCE), + NewPing(27, 28, MAX_DISTANCE), + NewPing(29, 30, MAX_DISTANCE), + NewPing(31, 32, MAX_DISTANCE), + NewPing(34, 33, MAX_DISTANCE), + NewPing(35, 36, MAX_DISTANCE), + NewPing(37, 38, MAX_DISTANCE), + NewPing(39, 40, MAX_DISTANCE), + NewPing(50, 51, MAX_DISTANCE), + NewPing(52, 53, MAX_DISTANCE) +}; + +void setup() { + Serial.begin(115200); + pingTimer[0] = millis() + 75; // First ping starts at 75ms, gives time for the Arduino to chill before starting. + for (uint8_t i = 1; i < SONAR_NUM; i++) // Set the starting time for each sensor. + pingTimer[i] = pingTimer[i - 1] + PING_INTERVAL; +} + +void loop() { + for (uint8_t i = 0; i < SONAR_NUM; i++) { // Loop through all the sensors. + if (millis() >= pingTimer[i]) { // Is it this sensor's time to ping? + pingTimer[i] += PING_INTERVAL * SONAR_NUM; // Set next time this sensor will be pinged. + if (i == 0 && currentSensor == SONAR_NUM - 1) oneSensorCycle(); // Sensor ping cycle complete, do something with the results. + sonar[currentSensor].timer_stop(); // Make sure previous timer is canceled before starting a new ping (insurance). + currentSensor = i; // Sensor being accessed. + cm[currentSensor] = 0; // Make distance zero in case there's no ping echo for this sensor. + sonar[currentSensor].ping_timer(echoCheck); // Do the ping (processing continues, interrupt will call echoCheck to look for echo). + } + } + // Other code that *DOESN'T* analyze ping results can go here. +} + +void echoCheck() { // If ping received, set the sensor distance to array. + if (sonar[currentSensor].check_timer()) + cm[currentSensor] = sonar[currentSensor].ping_result / US_ROUNDTRIP_CM; +} + +void oneSensorCycle() { // Sensor ping cycle complete, do something with the results. + // The following code would be replaced with your code that does something with the ping results. + for (uint8_t i = 0; i < SONAR_NUM; i++) { + Serial.print(i); + Serial.print("="); + Serial.print(cm[i]); + Serial.print("cm "); + } + Serial.println(); +}
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