SR04.hpp

Go to the documentation of this file.

 
#pragma once
 
#include <stdint.h> // NOLINT(modernize-deprecated-headers)
 
#include "../../../../runtime/Runtime.hpp"
#include "../../DistanceSensor.hpp"
 
namespace smartcarlib
{
namespace constants
{
namespace sr04
{
const uint8_t kDefaultIterations       = 5;
const unsigned int kDefaultMaxDistance = 70;
const unsigned int kError              = 0;
} // namespace sr04
} // namespace constants
} // namespace smartcarlib
 
class SR04 : public DistanceSensor
{
public:
    SR04(Runtime& runtime,
         uint8_t triggerPin,
         uint8_t echoPin,
         unsigned int maxDistance = smartcarlib::constants::sr04::kDefaultMaxDistance);
 
    /* Check `DistanceSensor` interface for documentation */
    unsigned int getDistance() override;
 
    /* Check `DistanceSensor` interface for documentation */
    unsigned int getMedianDistance(uint8_t iterations
                                   = smartcarlib::constants::sr04::kDefaultIterations) override;
 
private:
    const uint8_t kTriggerPin;
    const uint8_t kEchoPin;
    const unsigned int kMaxDistance;
    const unsigned long kTimeout;
    Runtime& mRuntime;
    bool mAttached{ false };
    const uint8_t kOutput;
    const uint8_t kInput;
    const uint8_t kLow;
    const uint8_t kHigh;
 
    void attach();
};