SonicRanger Class Reference

#include <SonicRanger.h>

Inheritance diagram for SonicRanger:

Public Member Functions
	SonicRanger (const uint8_t trigPin, const uint8_t echoPin)
void	begin ()
uint16_t	getRange ()
void	setMaxRange (uint16_t cm)
void	setTimeoutMs (uint16_t ms)

Static Public Attributes
static const uint16_t	DefaultMaxRangeCm = 200
static const uint8_t	DefaultTimeoutMs = 15

Detailed Description

HC-SR04 Ultrasonic ranger device

SonicRanger provides a simple wrapper around the calculation necessary to determine the range of an object using a HC-SR04 ultrasonic range finder.

Definition at line 17 of file SonicRanger.h.

Constructor & Destructor Documentation

SonicRanger()

SonicRanger::SonicRanger	(	const uint8_t	trigPin,
		const uint8_t	echoPin
	)

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.

Definition at line 41 of file SonicRanger.cpp.

Member Function Documentation

begin()

void SonicRanger::begin

(

)

Initialization.

Typically called from setup().

Definition at line 49 of file SonicRanger.cpp.

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getRange()

uint16_t SonicRanger::getRange

(

)

Get range in cm.

Returns

the range of the nearest object to the HC-SR04 device in cm (approximate). If no object is in range, some the maximum range (200 cm) will be returned.

NOTE: execution time depends on the range to an object. Of no object is in range, the ranging will time out after 15ms. The maximum range and timeout values can be set using setMaxRange() and setTimeoutMs().

Range=10cm, execution time ~1 ms Range=50cm, execution time ~4 ms Range=100cm, execution time ~7 ms Range=150cm, execution time ~10 ms Range=>200cm, execution time ~15 ms

Definition at line 55 of file SonicRanger.cpp.

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setMaxRange()

void SonicRanger::setMaxRange ( uint16_t  cm )

inline

Set maximum range

Parameters

cm	the new maximum range in cm.

Definition at line 57 of file SonicRanger.h.

setTimeoutMs()

void SonicRanger::setTimeoutMs ( uint16_t  ms )

inline

Set timeout in ms.

Parameters

ms	the new timeout in milliseconds.

Note that you need to allow about 7 ms for every 100 cm of range you wish to be able to measure. Typically HC-SR04 units can only reliably measure ranges of up a couple of meters.

Definition at line 68 of file SonicRanger.h.

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The documentation for this class was generated from the following files:

• src/SonicRanger.h
• src/SonicRanger.cpp