int us_dist(int pin)
{
byte[] buffer = new byte[4];
buffer[0] = 117;
buffer[0] = (byte)pin;
buffer[0] = 0;
buffer[0] = 0;
_goPiGo.RunCommand(Commands.UltraSonic, 15, 0, 0);
System.Threading.Tasks.Task.Delay(200);
try
{
var b1 = _goPiGo.DigitalRead(Pin.Trigger); // read 0
var b2 = _goPiGo.DigitalRead(Pin.Trigger); // read 1
if ((int)b1 != -1 && (int)b2 != -1)
{
return(((int)b1 * 255) + (int)b2);
}
else
{
return(-1);
}
}
catch
{
return(-1);
}
}
