From 782b9ddf65c6c02a7e43a4195e0aff1be5626e8f Mon Sep 17 00:00:00 2001 From: Alexander B Date: Thu, 26 Jun 2025 14:22:06 -0400 Subject: [PATCH] Ultrasonic --- ESP-IDF_Robot/main/ultrasonic.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ESP-IDF_Robot/main/ultrasonic.c b/ESP-IDF_Robot/main/ultrasonic.c index 3fd7838ef..da8025ccb 100644 --- a/ESP-IDF_Robot/main/ultrasonic.c +++ b/ESP-IDF_Robot/main/ultrasonic.c @@ -45,8 +45,8 @@ esp_err_t ultrasonic_measure_raw (const ultrasonic_sensor_t *sensor, uint32_t ma // Send a 10us pulse to the trigger pin gpio_set_level(sensor->trigger_gpio, 1); - esp_timer_delay(10); // Delay for 10 microseconds - gpio_set_level(sensor->trigger_gpio, 0); + vTaskDelay (10 / portTICK_PERIOD_MS); + gpio_set_level(sensor->trigger_gpio, 0);ets_sys // Wait for the echo pin to go high uint32_t start_time = esp_timer_get_time();