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- /*
- Ping))) Sensor
- This sketch reads a PING))) ultrasonic rangefinder and returns the distance
- to the closest object in range. To do this, it sends a pulse to the sensor to
- initiate a reading, then listens for a pulse to return. The length of the
- returning pulse is proportional to the distance of the object from the sensor.
- The circuit:
- - +V connection of the PING))) attached to +5V
- - GND connection of the PING))) attached to ground
- - SIG connection of the PING))) attached to digital pin 7
- created 3 Nov 2008
- by David A. Mellis
- modified 30 Aug 2011
- by Tom Igoe
- This example code is in the public domain.
- http://www.arduino.cc/en/Tutorial/Ping
- */
- // this constant won't change. It's the pin number of the sensor's output:
- const int echoPin = 7;
- const int trigPin = 8;
- void setup() {
- // initialize serial communication:
- Serial.begin(9600);
- pinMode(echoPin, INPUT);
- pinMode(trigPin, OUTPUT);
- Serial.println ("Version 0.1");
- }
- void loop() {
- // establish variables for duration of the ping, and the distance result
- // in inches and centimeters:
- long duration, inches, cm;
- // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
- // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
- digitalWrite(trigPin, LOW);
- delayMicroseconds(2);
- digitalWrite(trigPin, HIGH);
- delayMicroseconds(5);
- digitalWrite(trigPin, LOW);
- // The same pin is used to read the signal from the PING))): a HIGH pulse
- // whose duration is the time (in microseconds) from the sending of the ping
- // to the reception of its echo off of an object.
- duration = pulseIn(echoPin, HIGH);
- // convert the time into a distance
- inches = microsecondsToInches(duration);
- cm = microsecondsToCentimeters(duration);
- Serial.print(inches);
- Serial.print("in, ");
- Serial.print(cm);
- Serial.print("cm");
- Serial.println();
- delay(100);
- }
- long microsecondsToInches(long microseconds) {
- // According to Parallax's datasheet for the PING))), there are 73.746
- // microseconds per inch (i.e. sound travels at 1130 feet per second).
- // This gives the distance travelled by the ping, outbound and return,
- // so we divide by 2 to get the distance of the obstacle.
- // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
- return microseconds / 74 / 2;
- }
- long microsecondsToCentimeters(long microseconds) {
- // The speed of sound is 340 m/s or 29 microseconds per centimeter.
- // The ping travels out and back, so to find the distance of the object we
- // take half of the distance travelled.
- return microseconds / 29 / 2;
- }
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