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set the pin modes appropriately

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This commit is contained in:
Karan Misra 2013-12-13 07:40:25 +05:30
parent 1355a9d959
commit 65b32143cf
1 changed files with 22 additions and 0 deletions
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22
sensor/us020/us020.go
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@ -2,6 +2,7 @@
package us020 package us020
import ( import (
"log"
"sync" "sync"
"time" "time"
@ -29,6 +30,8 @@ type us020 struct {
initialized bool initialized bool
mu *sync.RWMutex mu *sync.RWMutex
debug bool
} }
// New creates a new US020 interface. The bus variable controls // New creates a new US020 interface. The bus variable controls
@ -55,11 +58,18 @@ func (d *us020) setup() (err error) {
d.echoPin = rpio.Pin(d.echoPinNumber) // ECHO port on the US020 d.echoPin = rpio.Pin(d.echoPinNumber) // ECHO port on the US020
d.triggerPin = rpio.Pin(d.triggerPinNumber) // TRIGGER port on the US020 d.triggerPin = rpio.Pin(d.triggerPinNumber) // TRIGGER port on the US020
d.echoPin.Input()
d.triggerPin.Output()
temp, err := bmp085.Temperature() temp, err := bmp085.Temperature()
if err != nil { if err != nil {
d.speedSound = 340 d.speedSound = 340
} else { } else {
d.speedSound = 331.4 + 0.606*temp d.speedSound = 331.4 + 0.606*temp
if d.debug {
log.Printf("read a temperature of %v, so speed of sound = %v", temp, d.speedSound)
}
} }
d.initialized = true d.initialized = true
@ -73,17 +83,29 @@ func (d *us020) Distance() (distance float64, err error) {
return return
} }
if d.debug {
log.Print("trigetting pulse")
}
// Generate a TRIGGER pulse // Generate a TRIGGER pulse
d.triggerPin.High() d.triggerPin.High()
time.Sleep(pulseDelay) time.Sleep(pulseDelay)
d.triggerPin.Low() d.triggerPin.Low()
if d.debug {
log.Print("waiting for echo to go high")
}
// Wait until ECHO goes high // Wait until ECHO goes high
for d.echoPin.Read() == rpio.Low { for d.echoPin.Read() == rpio.Low {
} }
startTime := time.Now() // Record time when ECHO goes high startTime := time.Now() // Record time when ECHO goes high
if d.debug {
log.Print("waiting for echo to go low")
}
// Wait until ECHO goes low // Wait until ECHO goes low
for d.echoPin.Read() == rpio.High { for d.echoPin.Read() == rpio.High {
} }