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UltraSensor.py
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UltraSensor.py
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#Libraries
import RPi.GPIO as GPIO
import time
class UltraSensor :
def __init__ (self):
#GPIO Mode (BOARD / BCM)
GPIO.setmode(GPIO.BOARD)
#BOARD
self.GPIO_TRIGGER = 35
self.GPIO_ECHO = 37
#set GPIO direction (IN / OUT)
GPIO.setup(self.GPIO_TRIGGER, GPIO.OUT)
GPIO.setup(self.GPIO_ECHO, GPIO.IN)
def distance(self):
# 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()
StopTime = time.time()
# save StartTime
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