Roboter/Code/Temperatur_und_Abstandsmesung/Temperatur_und_Abstandsmessung.ino

#include <OneWire.h>

#define trig 3
#define echo 4

long distance = 0;
long echotime;
long timer = 0;
int count = 0;


//ISR for PCINT20
ISR(PCINT2_vect) {
  cli();
  
  distance = pulseIn(echo, HIGH);
  PCICR &= ~0b00000100;
  PCMSK2 &= ~0b00010000;
  delayMicroseconds(10);

}

long calculateDistance(){
  return (long) (((float) distance/ 58.0));
}

void measureDistance(){
    Serial.println("Measuring");
    
    PORTD |= (1<<trig);
    //digitalWrite(trig, HIGH);
    // ... wait for 10 µs ...
    
    delayMicroseconds(10);
    // ... put the trigger down ...
    //digitalWrite(trig, LOW);

    echotime = millis();
    
    PORTD &= ~(1<<trig);

    sei(); 
    PCICR |= 0b00000100;
    PCMSK2 |= 0b00010000;
    
    
}

int16_t dallas(int x, byte start){
  
  OneWire ds(x);
  byte i;
  byte data[2];
  int16_t result;

  do{
    ds.reset();
    ds.write(0xCC); //skip Command
    ds.write(0xBE); //Read 1st 2 bytes of Scratchpad
    result = 0;
    for(i = 0; i < 2; i++){
      data[i] = ds.read();
      result += data[i];
    }

    result = result/2;
    ds.reset();
    ds.write(0xCC);
    ds.write(0x44, 1); //start conversion
    if(start){
      delay(1000);
    }
  } while(start--);
  return result; 
}

void setup(){
  Serial.begin(9600);
  dallas(2, 1);
  timer = millis();

  // Initializing Trigger Output and Echo Input
   pinMode(trig, OUTPUT);
   pinMode(echo, INPUT);

   // Reset the trigger pin and wait a half a second
   digitalWrite(trig, LOW);
   delayMicroseconds(500);

   sei();  
}

void loop(){
  
  long run_time = micros();
  if(millis() - timer >= 100){
    measureDistance();
    timer = millis();
  } 
  
  Serial.print("Temperatur: ");
  Serial.println(dallas(2, 0));
  
  Serial.print("Distanz: ");
  Serial.print(calculateDistance());
  Serial.println("cm");
  
  run_time = micros() - run_time;
  Serial.print("Zeit für Durchlauf: ");
  Serial.println(run_time);
  Serial.println();
  delay(1000);

}