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Integrated 2nd Ultrasonic sensor

Dual ultrasonic

I finished soldering cables together and sorting them out so now i can finally sample both ultrasonic sensors at the same time and transmit their status over serial usb!

I also improved the code found on the site I mentioned some days before , by grouping together everything so I will be able to add functionallity without spaghetti code ( on a chip :P ) ..

I am also thinking of the protocol that I will create to perform functions on the arduino :)
I like this kind of things very much :o) ..!
When it will be ready I will also upload in in the robot github repo :)

On other news tommorow is my last class exam but I am not sure I will pass it :P if only my work here could be taken into account..

Code:

const int numOfReadings = 10;                   // number of readings to take/ items in the array
// setup pins and variables for SRF05 sonar device
 
struct ultrasonic
{
  int echoPin;                                // SRF05 echo pin (digital 2)
  int initPin;    
  unsigned int proximity;
  int arrayIndex;                             // arrayIndex of the current item in the array
  int total;                                  // stores the cumlative total
  int averageDistance;                        // stores the average value
  int readings[numOfReadings];                    // stores the distance readings in an array
};
 
struct ultrasonic sensor1,sensor2;
 
unsigned long pulseTime = 0;                    // stores the pulse in Micro Seconds
unsigned long distance = 0;                     // variable for storing the distance (cm)
unsigned int proximity=0;
 
 
 
void setupUltrasonic(struct ultrasonic *ultr,int echopin,int initpin)
{
  pinMode(initpin, OUTPUT);                     // set init pin 3 as output
  pinMode(echopin, INPUT);                      // set echo pin 2 as input
  ultr->echoPin=echopin;
  ultr->initPin=initpin;
  for (int thisReading = 0; thisReading < numOfReadings; thisReading++)  { ultr->readings[thisReading] = 0; }
  ultr->proximity=0;
  ultr->arrayIndex=0;                             // arrayIndex of the current item in the array
  ultr->total=0;                                  // stores the cumlative total
  ultr->averageDistance=0;  
}
 
//setup
void setup()
{
  setupUltrasonic(&sensor1,2,3);
  setupUltrasonic(&sensor2,4,5);
  
 // initialize the serial port, lets you view the
 // distances being pinged if connected to computer
     Serial.begin(9600);
 }
// execute
 
 
int sampleUltrasonic(struct ultrasonic *ultr)
{
  digitalWrite(ultr->initPin, HIGH);                    // send 10 microsecond pulse
  delayMicroseconds(10);                  // wait 10 microseconds before turning off
  digitalWrite(ultr->initPin, LOW);                     // stop sending the pulse
  pulseTime = pulseIn(ultr->echoPin, HIGH);             // Look for a return pulse, it should be high as the pulse goes low-high-low
  distance = pulseTime/58;                        // Distance = pulse time / 58 to convert to cm.
  ultr->total= ultr->total - ultr->readings[ultr->arrayIndex];           // subtract the last distance
  ultr->readings[ultr->arrayIndex] = distance;                // add distance reading to array
  ultr->total= ultr->total + ultr->readings[ultr->arrayIndex];            // add the reading to the total
  ultr->arrayIndex = ultr->arrayIndex + 1;                    // go to the next item in the array
 
  int proximity=0;
 
  if (ultr->arrayIndex >= numOfReadings)  { ultr->arrayIndex = 0; }
  ultr->averageDistance = ultr->total / numOfReadings;      // calculate the average distance
  // if the distance is less than 255cm then change the brightness of the LED
  if (ultr->averageDistance < 255) { proximity = 255 - ultr->averageDistance;   }     // this means the smaller the distance the brighterthe LED.
  
  
  return proximity;
}
 
void loop()
{
  
  
 
  //analogWrite(redLEDPin, redLEDValue);          // Write current value to LED pins
  //Serial.println(averageDistance, DEC);         // print out the average distance to the debugger
   int proximity = sampleUltrasonic(&sensor1);
   Serial.println("Proximity 1 ");
   Serial.println(proximity);
  
   proximity = sampleUltrasonic(&sensor2);
   Serial.println("Proximity 2 ");
   Serial.println(proximity);
  
  
  delay(100);                                   // wait 100 milli seconds before looping again
}

This entry was posted on September 27th, 2010 at 07:27:57 pm by admin and is filed under Background.