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Ultrasonic

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Alex B.
2025-06-26 14:32:50 -04:00
parent d68a92f336
commit dff7aad280
1 changed files with 18 additions and 0 deletions
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18
ESP-IDF_Robot/main/blink_example_main.c
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@@ -50,6 +50,8 @@
#include "esp_system.h" #include "esp_system.h"
#include "espnow_config.h" #include "espnow_config.h"
#include "ultrasonic.h"
#include "config.h" #include "config.h"
static const char *TAG = "ESP IDF Robot"; static const char *TAG = "ESP IDF Robot";
@@ -321,6 +323,22 @@ void onDataReceived (const uint8_t *mac_addr, const uint8_t *data, uint8_t data_
update_pwm(rc_x, rc_y); update_pwm(rc_x, rc_y);
} }
void ultrasonic_task (void *arg) {
ultrasonic_sensor_t sensor = {
.trigger_gpio = GPIO_NUM_4, // Example GPIO for trigger
.echo_gpio = GPIO_NUM_5 // Example GPIO for echo
};
ESP_ERROR_CHECK(ultrasonic_init(&sensor));
uint32_t time_us;
while (true) {
ESP_ERROR_CHECK(ultrasonic_measure_raw(&sensor, PING_TIMEOUT, &time_us));
float distance_cm = (float)time_us / ROUNDTRIP_CM;
ESP_LOGI(TAG, "Distance: %.2f cm", distance_cm);
vTaskDelay(1000 / portTICK_PERIOD_MS);
}
}
void app_main(void) void app_main(void)
{ {
// Initialize internal temperature sensor // Initialize internal temperature sensor