fairorgan:
Fantastic job with this new library!I am especially liking the median feature of v1.5 to eliminate rogue results, but how can this be integrated into the 15 sensor example sketch which does not use ping() but sonar.ping_timer(function) instead?
To actually combine the two would be simple. However, in the process it would lose the interrupt aspect of the ping_timer() method. I've been toying with the idea, and considering new ways of doing it. One thing I've considered is a mass ping of all sensors at the same time followed by interrupt waiting for the ping echo. With 15 sensors there could be crazy cross-talk. But with 4 sensors it would probably work.
Also consider that with 15 sensors, if it were to poll each sensor 3 times it would take 3 times as long. Not sure how much processing time you have left after pinging 15 sensors. But, multiply the time it takes by 3 or 5 and you may no longer have time to do anything else, or the pings are just too slow to sense something in time if your robot is moving at a high enough speed.
Tim