SonicRanger with EMA-smoothed values. More...

#include <EMASonicRanger.h>

Inheritance diagram for EMASonicRanger:

Public Member Functions
	EMASonicRanger (const uint8_t trigPin, const uint8_t echoPin, const uint16_t periodMs=10, const float alpha=0.5, const uint16_t minimumRange=3)

void	begin ()

void	update ()

uint16_t	getRange ()

Public Member Functions inherited from SonicRanger
	SonicRanger (const uint8_t trigPin, const uint8_t echoPin)

void	begin ()

uint16_t	getRange ()

void	setMaxRange (uint16_t cm)

void	setTimeoutMs (uint16_t ms)

Additional Inherited Members
Static Public Attributes inherited from SonicRanger
static const uint16_t	DefaultMaxRangeCm = 200

static const uint8_t	DefaultTimeoutMs = 15

Detailed Description

SonicRanger with EMA-smoothed values.

The update() function should be called frequently to sample the value from the ranger. The getRange() function is then used to fetch the moving average of values from the ranger.

Definition at line 13 of file EMASonicRanger.h.

Constructor & Destructor Documentation

◆ EMASonicRanger()

EMASonicRanger::EMASonicRanger	(	const uint8_t	trigPin,
		const uint8_t	echoPin,
		const uint16_t	periodMs = `10`,
		const float	alpha = `0.5`,
		const uint16_t	minimumRange = `3`
	)

Constructor.

Parameters

trigPin	the arduino pin conneced to the TRIG pin of the HC-SR04 device
echoPin	the arduino pin conneced to the ECHO pin of the HC-SR04 device
periodMs	the minimum delay between sampling (provided update() is called)
alpha	the alpha value used in EMA calculation
minimumRange	the minium range to try to detect (discard samples below this range)

The reason for the mimimum range is that some units exhibit a problem where they randomly report skewing results.

Definition at line 5 of file EMASonicRanger.cpp.

Member Function Documentation

◆ begin()

void EMASonicRanger::begin ( )

Initialization

Typically called from setup() to intialize pins and so on.

Definition at line 13 of file EMASonicRanger.cpp.

Here is the call graph for this function:

◆ getRange()

uint16_t EMASonicRanger::getRange ( )

Fetch exponential moving average

Definition at line 33 of file EMASonicRanger.cpp.

◆ update()

void EMASonicRanger::update ( )

Update the ranger (get range from hardware)

NOTE: this function calls SonicRanger::getRange(), which may take significant time to execute - see SonicRanger::getRange documentation for details.

Definition at line 21 of file EMASonicRanger.cpp.