Servo.h

#ifndef SR04_H
#define SR04_H

#if defined(ARDUINO) && ARDUINO >= 100
   #include "Arduino.h"
#else
   #include "WProgram.h"
#endif
 //#include "pins_arduino.h"
 
#include <inttypes.h>

#define PULSE_TIMEOUT 150000L	// 100ms
#define DEFAULT_DELAY 10
#define DEFAULT_PINGS 5
class SR04 {
public:

	/**

* Constructor * Ultrasonic sensor SR04, four connections pins * VCC, ECHO, TRIGGER, GND *
* \param echoPin digital INPUT-Pin for measuring distance * \param triggerPin if 10us high a trigger signal is generated from * SR04 * * \return void */ SR04(int echoPin, int triggerPin);

/** * Do a measurment for this sensor. Return distance as long * in centimenter * \return long distance in centimeter */ long Distance();

/** * Do count measurents and calculate the average. * To avoid defilement from ow/high peaks, min/max values * are substracted from the average * * \param wait delay between measurements, default = DEFAULT_DELAY/ms * \param count number of measurements, default DEFAULT_PINGS * \return long distance in centimeter **/ long DistanceAvg(int wait=DEFAULT_DELAY, int count=DEFAULT_PINGS);

/** * Do only a ping. Get result with methode getDistance() * * \param keine */ void Ping() ;

/** * return latest distance. Methode Ping() should be called before * \param keine * \return Distanz in Zentimeter */ long getDistance();

private:

/** * Do the measurement calculation and return result in centimeter * SR04 measure echo time to obstacle and return way. *
* Sound travels with 340m/sec *
* Example: Obstace 100cm away from SR04. Measure time is 100cm to * obstacle and 100cm return = 200cm *
* 1sec = 1000ms = 1.000.000uS * 1.000.000 / 340 = Distance in microseconds for 100cm * 2941uS fuer 100cm = 5882 uS fuer 200cm * * duration / 5882 * 100 = distance in cm */ long MicrosecondsToCentimeter(long duration);

long _currentDistance; int _echoPin, _triggerPin; long _duration, _distance; bool _autoMode;

};
#endif