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arduino-cli/libraries/QDPHCSR04/QDPHCSR04.cpp

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+
+#include "Arduino.h"
+#include "QDPHCSR04.h"
+#include "QDPport.h"
+UltraSonicDistanceSensor::UltraSonicDistanceSensor(uint8_t PIN) {
+   
+    this->triggerPin = QDPport[PIN][1];
+    this->echoPin = QDPport[PIN][0];
+    pinMode(triggerPin, OUTPUT);
+    pinMode(echoPin, INPUT);
+}
+
+double UltraSonicDistanceSensor::measureDistanceCm() {
+    double distanceCm = measureDistance()/ 2.0 * 0.0343;
+    if (distanceCm == 0 || distanceCm > 888) {
+        return 888 ;
+    } else {
+        return distanceCm;
+    }
+}
+double UltraSonicDistanceSensor::measureDistanceinch() {
+    double distanceCm = measureDistance()/ 2.0 * 0.0343/2.54;
+    if (distanceCm == 0 || distanceCm > 188) {
+        return 188 ;
+    } else {
+        return distanceCm;
+    }
+}
+long UltraSonicDistanceSensor::measureDistance() {
+    digitalWrite(triggerPin, LOW);
+    delayMicroseconds(2);
+    // Hold trigger for 10 microseconds, which is signal for sensor to measure distance.
+    digitalWrite(triggerPin, HIGH);
+    delayMicroseconds(10);
+    digitalWrite(triggerPin, LOW);
+    // Measure the length of echo signal, which is equal to the time needed for sound to go there and back.
+    unsigned long durationMicroSec = pulseIn(echoPin, HIGH);
+    return durationMicroSec;
+
+}

arduino-cli/libraries/QDPHCSR04/QDPHCSR04.h

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+
+
+#ifndef QDPHCSR04_H
+#define QDPHCSR04_H
+
+#include "Arduino.h"
+
+class UltraSonicDistanceSensor {
+ public:
+    /**
+     * @param triggerPin  Digital pin that is used for controlling sensor (output).
+     * @param echoPin  Digital pin that is used to get information from sensor (input).
+     */
+    UltraSonicDistanceSensor(uint8_t PIN);
+
+    /**
+     * Measures distance by sending ultrasonic waves and measuring time it takes them
+     * to return.
+     * @returns Distance in centimeters, or negative value if distance is greater than 400cm.
+     */
+    double measureDistanceCm();
+    double measureDistanceinch();
+    long measureDistance();
+ private:
+    int triggerPin, echoPin;
+};
+
+#endif // HCSR04_H