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@ -0,0 +1,64 @@ |
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#define maxDistance 400
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int trig; |
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int echo; |
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//ISR for PCINT2
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ISR(PCINT2_vect) { |
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if((PIND & 64) > 0) { |
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pulseStart = micros(); |
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} else { |
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startNewMeasurement = true; |
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pulseLength = micros() - pulseStart; |
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newResult = true; |
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} |
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PCIFR = 0; |
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} |
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void setEchoPins(int pin1, int pin2){ |
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trig = pin1; |
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echo = pin2; |
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PCIFR = 0; |
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PCICR |= 0b00000100; |
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PCMSK2 |= (1 << echo); |
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// Initializing Trigger Output and Echo Input
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pinMode(trig, OUTPUT); |
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pinMode(echo, INPUT); |
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// Reset the trigger pin and wait a half a second
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digitalWrite(trig, LOW); |
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delayMicroseconds(500); |
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} |
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int16_t calculateDistance(){ |
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int16_t result = 1; |
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if(pulseLength > 0) { |
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result = (int16_t)(pulseLength / 58); |
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} |
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if(result > maxDistance){ |
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result = maxDistance; |
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} |
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newResult = false; |
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//Serial.println(result);
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return result; |
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} |
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void measureDistance(){ |
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digitalWrite(trig, HIGH); |
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// ... wait for 10 µs ...
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delayMicroseconds(10); |
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// ... put the trigger down ...
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digitalWrite(trig, LOW); |
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//Serial.println("messe...");
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startNewMeasurement = false; |
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} |