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ultrasonic.py
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ultrasonic.py
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import logging
import time
import RPi.GPIO as GPIO
class Ultrasonic:
def __init__(self):
self.z = 0
# set GPIO Pins
self.GPIO_TRIGGER = 18
self.GPIO_ECHO = 24
# set GPIO direction (IN / OUT)
GPIO.setup(self.GPIO_TRIGGER, GPIO.OUT)
GPIO.setup(self.GPIO_ECHO, GPIO.IN)
def distance(self):
StopTime = time.time()
# set Trigger to HIGH
GPIO.output(self.GPIO_TRIGGER, True)
# set Trigger after 0.01ms to LOW
time.sleep(0.00001)
GPIO.output(self.GPIO_TRIGGER, False)
StartTime = time.time()
while GPIO.input(self.GPIO_ECHO) == 0:
StartTime = time.time()
# save time of arrival
while GPIO.input(self.GPIO_ECHO) == 1:
StopTime = time.time()
# time difference between start and arrival
TimeElapsed = StopTime - StartTime
# multiply with the sonic speed (34300 cm/s)
# and divide by 2, because there and back
distance = (TimeElapsed * 34300) / 2
return distance
def get_distance(self):
try:
self.z = 0
while self.z == 0 or self.z > 30:
self.z = self.distance()
logging.debug('Distance {0}'.format(self.z))
logging.debug('Distance {0}'.format(self.z))
#time.sleep(0.1)
return self.z
# Reset by pressing CTRL + C
except KeyboardInterrupt:
logging.debug("Measurement stopped by User")
GPIO.cleanup()
def calculate_zaxis(self):
return int(1.3 * self.z * 2.7)