US.cpp

// OTTO ultrasonic version 9
// OttDIY Arduino Project, 2020

#include "US.h"

US::US() 
}

US::US(int pinTrigger, int pinEcho) 
  US::init(pinTrigger, pinEcho);
}

void US::init(int pinTrigger, int pinEcho) {
  _pinTrigger = pinTrigger;
  _pinEcho = pinEcho;
  pinMode(_pinTrigger , OUTPUT);
  pinMode(_pinEcho , INPUT);
}

long US::TP_init() {
  digitalWrite(_pinTrigger, LOW);
  delayMicroseconds(2);
  digitalWrite(_pinTrigger, HIGH);
  delayMicroseconds(10);
  digitalWrite(_pinTrigger, LOW);
  long microseconds = pulseIn(_pinEcho, HIGH, 40000); // 40000
  return microseconds;
}

float US::read() {
  long microseconds = US::TP_init();
  long distance;
  distance = microseconds / 29 / 2;
  if (distance == 0) {
    distance = 999;
  }
  return distance;
}

//end