Adding Sonar library for controlling Parallax Ultrasonic PING))) sensors.

readme.txt

@@ -47,6 +47,7 @@ UPDATES
 
 0007
 
+Adding Sonar library for controlling Parallax Ultrasonic PING))) sensors.
 Defining binary constants: e.g. B1010 is 6.
 Digital pins 0 and 1 can be used for i/o until a call to Serial.begin().
 

targets/libraries/Sonar/Sonar.cpp

@@ -0,0 +1,82 @@
+/*
+  Sonar.cpp - Parallax PING))) Ultrasonic Sensor Library
+  Copyright (c) 2006 David A. Mellis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+  
+  For more information on the Parallax PING))) Ultrasonic Sensor, see:
+  http://www.parallax.com/detail.asp?product_id=28015
+*/
+
+/******************************************************************************
+ * Includes
+ ******************************************************************************/
+
+#include "WConstants.h"
+#include "Sonar.h"
+
+/******************************************************************************
+ * Definitions
+ ******************************************************************************/
+
+/******************************************************************************
+ * Constructors
+ ******************************************************************************/
+
+Sonar::Sonar(uint8_t signal)
+{
+	_pinSignal = signal;
+}
+
+/******************************************************************************
+ * User API
+ ******************************************************************************/
+
+unsigned long Sonar::readMicroseconds()
+{
+	pinMode(_pinSignal, OUTPUT);
+
+	// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
+	// We give a short LOW pulse beforehand to ensure a clean HIGH pulse.
+	digitalWrite(_pinSignal, LOW);
+	delayMicroseconds(2);
+	digitalWrite(_pinSignal, HIGH);
+	delayMicroseconds(5);
+	digitalWrite(_pinSignal, LOW);
+	
+	// The same pin is used to read the signal from the PING))): a HIGH
+	// pulse whose duration is the time from the sending of the ping to
+	// to reception of the echo.
+	pinMode(_pinSignal, INPUT);
+	
+	return pulseIn(_pinSignal, HIGH);
+}
+
+unsigned long Sonar::readInches()
+{
+	// 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 readMicroseconds() / 74 / 2;
+}
+
+unsigned long Sonar::readCentimeters()
+{
+	// 73.746 microseconds per inch works out to about 29 microseconds per
+	// centimeter (there are 2.54 centimeters per inch).
+	return readMicroseconds() / 29 / 2;
+}

targets/libraries/Sonar/Sonar.h

@@ -0,0 +1,40 @@
+/*
+  Sonar.h - Parallax PING))) Ultrasonic Sensor Library
+  Copyright (c) 2006 David A. Mellis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+  
+  For more information on the Parallax PING))) Ultrasonic Sensor, see:
+  http://www.parallax.com/detail.asp?product_id=28015
+*/
+
+#ifndef Sonar_h
+#define Sonar_h
+
+#include <inttypes.h>
+
+class Sonar
+{
+  private:
+    uint8_t _pinSignal;
+  public:
+    Sonar(uint8_t);
+    unsigned long readMicroseconds();
+    unsigned long readInches();
+    unsigned long readCentimeters();
+};
+
+#endif
+

targets/libraries/Sonar/examples/sonar/sonar.pde

@@ -0,0 +1,22 @@
+#include <Ultrasound.h>
+
+Ultrasound ultrasound(2);
+
+void setup()
+{
+  Serial.begin(9600);
+}
+
+void loop()
+{
+  Serial.print("Ping took: ");
+  Serial.print(ultrasound.readMicroseconds());
+  Serial.print(" us. Distance is: ");
+  Serial.print(ultrasound.readCentimeters());
+  Serial.print(" cm, ");
+  Serial.print(ultrasound.readInches());
+  Serial.print(" in.");
+  Serial.println();
+  
+  delay(1000);
+}

targets/libraries/Sonar/keywords.txt

@@ -0,0 +1,22 @@
+#######################################
+# Syntax Coloring Map For Ultrasound
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Sonar	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+readMicroseconds	KEYWORD2
+readInches	KEYWORD2
+readCentimeters	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+