SR04.h

00001 #ifndef SR04_H
00002 #define SR04_H
00003 DigitalOut pinTrigg(PC_10);
00004 DigitalIn pinEcho(PC_12);
00005 const char* distMsg = "Actual distance: %g \n\r";
00006 float actualDistance = 0;
00007 float pulseIn(DigitalIn pin)
00008 {
00009   Timer durationTimer;
00010   float tempDuration = 0;
00011   while(!pin); //wait for high
00012   durationTimer.start();
00013   while(pin); //wait for low 
00014   tempDuration = durationTimer.read_us();
00015   return tempDuration;
00016 }
00017 float getDistance(int sensorID)
00018 {
00019     if(sensorID == 0)
00020     {
00021         float duration = 0;
00022         pinTrigg = 0;
00023         wait_us(2);
00024         pinTrigg = 1;
00025         wait_us(10);
00026         pinTrigg = 0;
00027         duration = pulseIn(pinEcho);
00028         duration /= 58; //datasheet!
00029         return duration;
00030     }
00031     return 0;
00032 }
00033 #endif //SR04_H