98 lines
2.3 KiB
Go
98 lines
2.3 KiB
Go
//go:build example
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// +build example
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//
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// Do not build by default.
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package main
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import (
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"fmt"
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"log"
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"os"
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"time"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/gpio"
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"gobot.io/x/gobot/v2/platforms/tinkerboard"
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)
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// Wiring
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// PWR Tinkerboard: 2(+5V), 6, 9, 14, 20 (GND)
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// GPIO Tinkerboard: header pin 7 is the trigger output, pin 22 used as echo input
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// HC-SR04: the power is wired to +5V and GND of tinkerboard, the same for trigger output and the echo input pin
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func main() {
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const (
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triggerOutput = "7"
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echoInput = "22"
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)
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// this is mandatory for systems with defunct edge detection, although the "cdev" is used with an newer Kernel
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// keep in mind, that this cause more inaccurate measurements
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const pollEdgeDetection = true
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opts := []interface{}{}
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if pollEdgeDetection {
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opts = append(opts, gpio.WithHCSR04UseEdgePolling())
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}
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a := tinkerboard.NewAdaptor()
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hcsr04 := gpio.NewHCSR04Driver(a, triggerOutput, echoInput, opts...)
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work := func() {
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if pollEdgeDetection {
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fmt.Println("Please note that measurements are CPU consuming and will be more inaccurate with this setting.")
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fmt.Println("After startup the system is under load and the measurement is very inaccurate, so wait a bit...")
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time.Sleep(2000 * time.Millisecond)
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}
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if err := hcsr04.StartDistanceMonitor(); err != nil {
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log.Fatal(err)
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}
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// first single shot
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if v, err := hcsr04.MeasureDistance(); err != nil {
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log.Fatal(err)
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} else {
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fmt.Printf("first single shot done: %5.3f m\n", v)
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}
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ticker := gobot.Every(1*time.Second, func() {
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fmt.Printf("continuous measurement: %5.3f m\n", hcsr04.Distance())
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})
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gobot.After(5*time.Second, func() {
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if err := hcsr04.StopDistanceMonitor(); err != nil {
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log.Fatal(err)
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}
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ticker.Stop()
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})
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gobot.After(7*time.Second, func() {
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// second single shot
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if v, err := hcsr04.MeasureDistance(); err != nil {
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log.Fatal(err)
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} else {
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fmt.Printf("second single shot done: %5.3f m\n", v)
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}
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// cleanup
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if err := hcsr04.Halt(); err != nil {
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log.Println(err)
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}
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if err := a.Finalize(); err != nil {
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log.Println(err)
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}
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os.Exit(0)
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})
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}
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robot := gobot.NewRobot("distanceBot",
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[]gobot.Connection{a},
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[]gobot.Device{hcsr04},
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work,
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)
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if err := robot.Start(); err != nil {
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panic(err)
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}
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}
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