SR04 Class Reference

#include <SR04.hpp>

Inheritance diagram for SR04:

Collaboration diagram for SR04:

Public Member Functions
	SR04 (Runtime &runtime, uint8_t triggerPin, uint8_t echoPin, unsigned int maxDistance=smartcarlib::constants::sr04::kDefaultMaxDistance)
	Constructs an SR04 ultrasonic sensor. More...
unsigned int	getDistance () override
	Gets the distance measured by the sensor in centimeters. More...
unsigned int	getMedianDistance (uint8_t iterations=smartcarlib::constants::sr04::kDefaultIterations) override
	Gets the median distance from the specified number of measurements. More...
Public Member Functions inherited from DistanceSensor
virtual	~DistanceSensor ()=default

Detailed Description

The SR04 (aka SRF05) is an inexpensive ultrasonic sensor controllable over two digital pins.

For a more advanced solution (faster readings, not using pulseIn, non-blocking measurements etc) please use the NewPing library.

Definition at line 29 of file SR04.hpp.

Constructor & Destructor Documentation

SR04()

SR04::SR04	(	Runtime &	runtime,
		uint8_t	triggerPin,
		uint8_t	echoPin,
		unsigned int	maxDistance = smartcarlib::constants::sr04::kDefaultMaxDistance
	)

Constructs an SR04 ultrasonic sensor.

Parameters

runtime	The runtime environment you want to run the class for
triggerPin	The pin to produce the trigger signal
echoPin	The pin to receive the echo signal
maxDistance	The maximum measurement distance in centimeters

Example:

unsigned short TRIGGER_PIN = 6;
unsigned short ECHO_PIN = 7;
 
ArduinoRuntime arduinoRuntime;
SR04 sr04(arduinoRuntime, TRIGGER_PIN, ECHO_PIN);

Definition at line 16 of file SR04.cpp.

Member Function Documentation

getDistance()

unsigned int SR04::getDistance ( )

overridevirtual

Gets the distance measured by the sensor in centimeters.

Calling this might trigger a new measurement by the sensor.

Returns

0 if an error has occured, otherwise the measured distance in centimeters

Example:

unsigned int distance = sensor.getDistance();

Implements DistanceSensor.

Definition at line 40 of file SR04.cpp.

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getMedianDistance()

unsigned int SR04::getMedianDistance ( uint8_t  iterations = smartcarlib::constants::sr04::kDefaultIterations )

overridevirtual

Gets the median distance from the specified number of measurements.

Parameters

iterations

Number of measurements to conduct (at most kMaxMedianMeasurements)

Returns

The median of the conducted measurements or an error value if the number of iterations is 0 or larger than kMaxMedianMeasurements

Example:

// Get the median of `10` measurements
unsigned int distance = sensor.getMedianDistance(10);

Implements DistanceSensor.

Definition at line 61 of file SR04.cpp.

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The documentation for this class was generated from the following files:

• src/sensors/distance/ultrasound/ping/SR04.hpp
• src/sensors/distance/ultrasound/ping/SR04.cpp