mirror of https://github.com/kidoman/embd
139 lines
2.6 KiB
Go
139 lines
2.6 KiB
Go
// Package us020 allows interfacing with the US020 ultrasonic range finder.
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package us020
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import (
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"log"
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"sync"
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"time"
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"github.com/stianeikeland/go-rpio"
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)
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const (
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pulseDelay = 30000 * time.Nanosecond
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defaultTemp = 25
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)
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type Thermometer interface {
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Temperature() (float64, error)
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}
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type nullThermometer struct {
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}
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func (*nullThermometer) Temperature() (float64, error) {
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return defaultTemp, nil
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}
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var NullThermometer = &nullThermometer{}
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// US020 represents a US020 ultrasonic range finder.
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type US020 struct {
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EchoPinNumber, TriggerPinNumber int
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Thermometer Thermometer
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echoPin rpio.Pin
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triggerPin rpio.Pin
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speedSound float64
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initialized bool
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mu sync.RWMutex
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Debug bool
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}
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// New creates a new US020 interface. The bus variable controls
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// the I2C bus used to communicate with the device.
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func New(e, t int, thermometer Thermometer) *US020 {
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return &US020{EchoPinNumber: e, TriggerPinNumber: t, Thermometer: thermometer}
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}
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func (d *US020) setup() (err error) {
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d.mu.RLock()
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if d.initialized {
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d.mu.RUnlock()
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return
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}
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d.mu.RUnlock()
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d.mu.Lock()
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defer d.mu.Unlock()
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if err = rpio.Open(); err != nil {
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return
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}
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d.echoPin = rpio.Pin(d.EchoPinNumber) // ECHO port on the US020
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d.triggerPin = rpio.Pin(d.TriggerPinNumber) // TRIGGER port on the US020
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d.echoPin.Input()
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d.triggerPin.Output()
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if d.Thermometer == nil {
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d.Thermometer = NullThermometer
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}
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if temp, err := d.Thermometer.Temperature(); err == nil {
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d.speedSound = 331.3 + 0.606*temp
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if d.Debug {
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log.Printf("read a temperature of %v, so speed of sound = %v", temp, d.speedSound)
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}
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} else {
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d.speedSound = 340
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}
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d.initialized = true
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return
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}
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// Distance computes the distance of the bot from the closest obstruction.
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func (d *US020) Distance() (distance float64, err error) {
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if err = d.setup(); err != nil {
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return
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}
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if d.Debug {
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log.Print("us020: trigerring pulse")
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}
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// Generate a TRIGGER pulse
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d.triggerPin.High()
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time.Sleep(pulseDelay)
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d.triggerPin.Low()
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if d.Debug {
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log.Print("us020: waiting for echo to go high")
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}
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// Wait until ECHO goes high
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for d.echoPin.Read() == rpio.Low {
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}
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startTime := time.Now() // Record time when ECHO goes high
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if d.Debug {
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log.Print("us020: waiting for echo to go low")
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}
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// Wait until ECHO goes low
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for d.echoPin.Read() == rpio.High {
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}
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duration := time.Since(startTime) // Calculate time lapsed for ECHO to transition from high to low
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// Calculate the distance based on the time computed
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distance = float64(duration.Nanoseconds()) / 10000000 * (d.speedSound / 2)
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return
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}
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// Close.
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func (d *US020) Close() {
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d.echoPin.Output()
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rpio.Close()
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}
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