/* Ping))) Sensor
This sketch reads a PING))) ultrasonic rangefinder and returns the
distance to the closest object in range. To do this, it sends a pulse
to the sensor to initiate a reading, then listens for a pulse
to return. The length of the returning pulse is proportional to
the distance of the object from the sensor.
The circuit:
* +V connection of the PING))) attached to +5V
* GND connection of the PING))) attached to ground
* SIG connection of the PING))) attached to digital pin 7
http://www.arduino.cc/en/Tutorial/Ping
created 3 Nov 2008
by David A. Mellis
modified 30 Aug 2011
by Tom Igoe
This example code is in the public domain.
*/
byte pattern[]={
B11111111,
B01111111,
B00111111,
B00011111,
B00001111,
B00000111,
B00000011,
B00000001,
B00000000,
};
byte pattern2[]={
B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,
B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,
B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,
B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,
B00100010,B00100010,B11011100,B10101100,B10101110,B01010000,B00000011,B10101000,B10110101,
B01010110,B10101110,B10010010,B11011100,B10101100,B01010000,B10101110,B00100010,B10001010,
B00100010,B11011100,B10101100,B10101110,B01010000,B00000011,B10101000,B01010110,B10011010,
B10101110,B10010010,B01101100,B10101100,B01010000,B10101110,B00100010,B00010010,B01100101,
B11011100,B10101100,B10101110,B01010000,B00000001,B10101000,B01010110,B10101110,B10100000,
B00100010,B00100010,B11011100,B10101100,B10101110,B01010000,B00000011,B10101000,B01101001,
B01010110,B10101110,B10010010,B11011100,B10101100,B01010000,B10101110,B00100010,B10100110,
B00100010,B11011100,B10101100,B10101110,B01010000,B00000011,B10101000,B01010110,B10100110,
B10101110,B10010010,B01101100,B10101100,B01010000,B10101110,B00100010,B00010010,B10110001,
B11011100,B10101100,B10101110,B01010000,B00000001,B10101000,B01010110,B10101110,B11101101,
B10010010,B01101110,B10101100,B01010000,B10101110,B00000000,B00000000,B00000000,B00100010,
B00100010,B00100010,B11011100,B10101100,B10101110,B01010000,B00000011,B10101000,B10110101,
B11011100,B10101100,B10101110,B01010000,B00000001,B10101000,B01010110,B10101110,B10100000,
B00100010,B00100010,B11011100,B10101100,B10101110,B01010000,B00000011,B10101000,B01101001,
B01010110,B10101110,B10010010,B11011100,B10101100,B01010000,B10101110,B00100010,B10100110,
B00100010,B11011100,B10101100,B10101110,B01010000,B00000011,B10101000,B01010110,B10100110,
B10101110,B10010010,B01101100,B10101100,B01010000,B10101110,B00100010,B00010010,B10110001,
B11011100,B10101100,B10101110,B01010000,B00000001,B10101000,B01010110,B10101110,B11101101,
B10010010,B01101110,B10101100,B01010000,B10101110,B00000000,B00000000,B00000000,B00100010,
B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,B11111111,
B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,B00000000,
};
#define NUM_REGISTERS 8
#define MAX_PATTERN (((sizeof(pattern2)/sizeof(byte))/NUM_REGISTERS) -2 )
//#define MAX_PATTERN (sizeof(pattern2)/sizeof(byte))
// this constant won't change. It's the pin number
// of the sensor's output:
const int pingPin = 7;
#define CLOCK 12
#define LATCH 8
#define DATA 10
void setup() {
// initialize serial communication:
Serial.begin(57600);
pinMode(CLOCK,OUTPUT);
pinMode (LATCH, OUTPUT);
pinMode ( DATA,OUTPUT);
}
long int lastMovement=0;
long int lastDistance=0;
void loop()
{
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, inches, cm;
int output,rn;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(pingPin, INPUT);
duration = pulseIn(pingPin, HIGH);
// convert the time into a distance
inches = microsecondsToInches(duration);
cm = microsecondsToCentimeters(duration);
if ( cm 125)cm=125;
if (lastDistance != cm) {
lastDistance=cm;
lastMovement=millis();
}
Serial.print(cm);
Serial.print(" cm, ");
output=map(cm,0,125,0,MAX_PATTERN);
Serial.print(output);
// Serial.print(cm);
digitalWrite (LATCH, LOW);
//shiftOut(DATA,CLOCK,LSBFIRST,~(1<>cm));
//delay(1000);
for (rn=0;rn 2000) {
delay(60); // one thing to try. //output=MAX_PATTERN+1;
} else {
delay(100+random(200));
}
}
long microsecondsToInches(long microseconds)
{
// According to Parallax's datasheet for the PING))), there are
// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
// second). This gives the distance travelled by the ping, outbound
// and return, so we divide by 2 to get the distance of the obstacle.
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
return microseconds / 74 / 2;
}
long microsecondsToCentimeters(long microseconds)
{
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the
// object we take half of the distance travelled.
return microseconds / 29 / 2;
}
