1 /*
2 * Author: Jon Trulson <jtrulson@ics.com>
3 * Copyright (c) 2015 Intel Corporation.
4 *
5 * Permission is hereby granted, free of charge, to any person obtaining
6 * a copy of this software and associated documentation files (the
7 * "Software"), to deal in the Software without restriction, including
8 * without limitation the rights to use, copy, modify, merge, publish,
9 * distribute, sublicense, and/or sell copies of the Software, and to
10 * permit persons to whom the Software is furnished to do so, subject to
11 * the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 */
24
25 #include <unistd.h>
26 #include <iostream>
27 #include <signal.h>
28 #include "maxsonarez.h"
29
30 using namespace std;
31
32 bool shouldRun = true;
33
34 #define MAXSONAREZ_AREF 5.0
35
sig_handler(int signo)36 void sig_handler(int signo)
37 {
38 if (signo == SIGINT)
39 shouldRun = false;
40 }
41
main()42 int main()
43 {
44 signal(SIGINT, sig_handler);
45
46 //! [Interesting]
47
48 // Instantiate a MaxSonarEZ on analog pin A1, with an analog
49 // reference voltage of MAXSONAREZ_AREF
50 upm::MAXSONAREZ *sonar = new upm::MAXSONAREZ(1, MAXSONAREZ_AREF);
51
52 // Every second, sample the sonar and output the distance to an
53 // object in inches.
54
55 // With the EZ3 version, the minimum and maximum ranges seemed to be
56 // between 6 and 33 inches
57
58 while (shouldRun)
59 {
60 cout << "AREF: " << MAXSONAREZ_AREF
61 << ", distance in inches: " << sonar->inches() << endl;
62
63 sleep(1);
64 }
65
66 //! [Interesting]
67
68 cout << "Exiting" << endl;
69
70 delete sonar;
71 return 0;
72 }
73