HCSR04 Class Reference

API for the HC-SR04 Ultrasonic Sensor. More...

Detailed Description

• ID: hcsr04
• Name: HC-SR04 Ultrasonic Sensor
• Category: sound
• Manufacturer: generic
• Connection: gpio

This module defines the HC-SR04 interface for libhcsr04

void
interrupt (void * args) {
    sonar->ackEdgeDetected ();
}

int
main(int argc, char **argv)
{
    sonar = new upm::HCSR04(5, 6, &interrupt);
    signal(SIGINT, sig_handler);

    sleep(1);

    for(;;){
        std::cout << "get distance" << std::endl;
        double distance = sonar->getDistance(CM);
        std::cout << "distance " << distance << std::endl;
        sleep(5);
    }

    delete sonar;

    return 0;
}

Public Member Functions
	HCSR04 (uint8_t triggerPin, uint8_t echoPin, void(*fptr)(void *))
	~HCSR04 ()
double	getDistance (int sys)
void	ackEdgeDetected ()
std::string	name ()

Data Fields
uint8_t	m_doWork

Constructor & Destructor Documentation

HCSR04	(	uint8_t	triggerPin,
		uint8_t	echoPin,
		void(*)(void *)	fptr
	)

Instantiates an HCSR04 object

Parameters

triggerPin	Pin to trigger the sensor for distance
echoPin	Pulse response to triggering
fptr	Function pointer to handle rising-edge and falling-edge interrupts

~HCSR04

(

)

HCSR04 object destructor

Member Function Documentation

double getDistance

(

int

sys

)

Gets the distance from the sensor

void ackEdgeDetected

(

)

On each interrupt, this function detects if the interrupt was falling-edge or rising-edge. Should be called from the interrupt handler.

std::string name ( )

inline

Returns the name of the sensor

Field Documentation

uint8_t m_doWork

Flag to control blocking function while waiting for a falling-edge interrupt

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

• /var/lib/jenkins/workspace/upm-doc-stable/src/hcsr04/hcsr04.h
• /var/lib/jenkins/workspace/upm-doc-stable/src/hcsr04/hcsr04.cxx