NariGODs:
Good day everyone, i want to know how if i can use "Timer Median Sketch" with 2 HC-SR04 Sensores.I need to get a Median between both sensors, and aftes that get this median.
If someone can help, i will be very thanks.
I got 2 HCSR-04 getting a median between 30 measures.
So in the end, i need get 60 measures from both sensors, and get this median after that.
PLEASE HELP ME !
I try this way, but something dosnt work as expected.
// ---------------------------------------------------------------------------
// Calculate a ping median using the ping_timer() method.
// ---------------------------------------------------------------------------
#include <NewPing.h>
#define SONAR_NUM 2 // Number of sensors.
#define ITERATIONS 30 // Number of iterations.
#define MAX_DISTANCE 2000 // Maximum distance (in cm) to ping.
#define PING_INTERVAL 29 // Milliseconds between sensor pings (29ms is about the min to avoid cross-sensor echo).
unsigned long pingTimer[ITERATIONS]; // Holds the times when the next ping should happen for each iteration.
unsigned int cm[ITERATIONS]; // Where the ping distances are stored.
uint8_t currentIteration = 0; // Keeps track of iteration step.
uint8_t currentSensor = 0;
NewPing sonar[SONAR_NUM] = {
NewPing(3, 9, MAX_DISTANCE),
NewPing(10, 11, MAX_DISTANCE)
};
void setup() {
Serial.begin(115200);
pingTimer[0] = millis() + 75; // First ping starts at 75ms, gives time for the Arduino to chill before starting.
for (uint8_t i = 1; i < ITERATIONS; i++) // Set the starting time for each iteration.
pingTimer[i] = pingTimer[i - 1] + PING_INTERVAL;
}
void loop()
{
medicoes();
}
void medicoes()
{
for (uint8_t v = 0; v < SONAR_NUM; v++) // SONAR_NUM[0] = cm[30] ITERATIONS
{ // SONAR_NUM[1] = cm[30] ITERATIONS
for (uint8_t i = 0; i < ITERATIONS; i++) // Loop through all the iterations.
{
if (millis() >= pingTimer[i]) // Is it this iteration's time to ping?
{
pingTimer[i] += PING_INTERVAL * ITERATIONS; // Set next time this sensor will be pinged.
if (i == 0 && currentIteration == ITERATIONS - 1)
{
oneSensorCycle(); // Sensor ping cycle complete, do something with the results.
}
sonar[v].timer_stop(); // Make sure previous timer is canceled before starting a new ping (insurance).
currentIteration = i; // Sensor being accessed.
cm[currentIteration] = 0; // Make distance zero in case there's no ping echo for this iteration.
sonar[v].ping_timer(echoCheck); // Do the ping (processing continues, interrupt will call echoCheck to look for echo).
}
}
currentSensor = v;
}
}
void echoCheck() // If ping received, set the sensor distance to array.
{
if (sonar[currentSensor].check_timer())
{
cm[currentIteration] = sonar[currentSensor].ping_result / US_ROUNDTRIP_CM;
}
}
void oneSensorCycle() // All iterations complete, calculate the median.
{
unsigned int uS[ITERATIONS];
uint8_t j, it = ITERATIONS;
uS[0] = NO_ECHO;
for (uint8_t i = 0; i < it; i++) // Loop through iteration results.
{
if (cm[i] != NO_ECHO) // Ping in range, include as part of median.
{
if (i > 0)
{ // Don't start sort till second ping.
for (j = i; j > 0 && uS[j - 1] < cm[i]; j--) // Insertion sort loop.
uS[j] = uS[j - 1]; // Shift ping array to correct position for sort insertion.
}
else j = 0; // First ping is sort starting point.
uS[j] = cm[i]; // Add last ping to array in sorted position.
}
else it--; // Ping out of range, skip and don't include as part of median.
}
Serial.println(uS[it >> 1]);
}
I Need to get 30 iterations from each sensor, and do a median between this 60 iterations. And after that, print the result in Serial Port.
As I've described ad nauseam, don't use the 15 sensor sketch as a base for your code unless you know what you're doing. If you don't, I can almost guarantee it won't work. It's for experts only and no one will want to spend the time to debug and rewrite your sketch. So you've been warned... again.
Instead, why not just use the built-in ping_median() method? Use the Ping 3 sensors sketch as a basis:
https://bitbucket.org/teckel12/arduino-new-ping/wiki/Home#!ping-3-sensors-sketch
Change it to 2 sensors, and instead of doing a ping_cm(), do a ping_median(). Since you want to do 30 iterations from each sensor, you would be doing a ping_median(30). Then, take the two results from the 2 sensors and average them. Easy peasy. Don't over-complicate it.
Tim