40 lines
1.0 KiB
Python
40 lines
1.0 KiB
Python
"""
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CS100/HC-SR04
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Micropython library for the CS100/HC-SR04(Ultrasonic ranging)
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=======================================================
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@dahanzimin From the Mixly Team
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"""
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from time import sleep_us
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from machine import Pin, time_pulse_us
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class Sonar:
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__species = {}
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__first_init = True
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def __new__(cls, trig, echo, *args, **kwargs):
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if (trig, echo) not in cls.__species.keys():
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cls.__first_init = True
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cls.__species[(trig, echo) ] = object.__new__(cls)
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return cls.__species[(trig, echo)]
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def __init__(self, trig, echo, max_rang=400):
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if self.__first_init:
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self.__first_init = False
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self.trig = Pin(trig, Pin.OUT, value=0)
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self.echo = Pin(echo, Pin.IN)
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self.timeout_us = int(max_rang * 2 * 29.1)
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def checkdist(self):
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self.trig.value(0)
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sleep_us(5)
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self.trig.value(1)
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sleep_us(10)
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self.trig.value(0)
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try:
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pulse_time = time_pulse_us(self.echo, 1, self.timeout_us)
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pulse_time = pulse_time if pulse_time >= 0 else self.timeout_us
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return round(pulse_time / 2 / 29.1, 2) # 1cm each 29.1us
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except:
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return None
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