/// <summary>
/// Tests the ultrasonic sensor.
/// </summary>
public static void TestUltrasonicSensor()
{
using (var sensor = new UltrasonicHcsr04(Pi.Gpio[BcmPin.Gpio23], Pi.Gpio[BcmPin.Gpio24]))
{
sensor.OnDataAvailable += (s, e) =>
{
if (e.IsValid)
{
if (e.HasObstacles)
{
if (e.Distance < 10)
{
$"Obstacle detected at {e.Distance:N2}cm / {e.DistanceInch:N2}in".WriteLine(ConsoleColor.Red);
}
else if (e.Distance < 30)
{
$"Obstacle detected at {e.Distance:N2}cm / {e.DistanceInch:N2}in".WriteLine(ConsoleColor.DarkYellow);
}
else if (e.Distance < 100)
{
$"Obstacle detected at {e.Distance:N2}cm / {e.DistanceInch:N2}in".WriteLine(ConsoleColor.Yellow);
}
else
{
$"Obstacle detected at {e.Distance:N2}cm / {e.DistanceInch:N2}in".WriteLine(ConsoleColor.Green);
}
}
else
{
"No obstacles detected.".Info("HC - SR04");
}
}
else
{
"Invalid Reading".Error("HC-SR04");
}
};
sensor.Start();
Console.ReadKey(true);
}
}
static void Main(string[] args)
{
var ledPin = 27;
var triggerPin = 17;
var echoPin = 4;
var objectDetected = false;
Pi.Init <BootstrapWiringPi>();
Pi.Gpio[ledPin].PinMode = GpioPinDriveMode.Output;
using (var sensor = new UltrasonicHcsr04(Pi.Gpio[triggerPin], Pi.Gpio[echoPin]))
{
sensor.OnDataAvailable += async(s, e) =>
{
if (e.IsValid)
{
if (e.Distance < 50)
{
Console.WriteLine($"Object detected at {e.Distance:N2}cm!");
if (!objectDetected)
{
objectDetected = true;
Pi.Gpio[ledPin].Value = true;
}
}
else
{
if (objectDetected)
{
objectDetected = false;
Pi.Gpio[ledPin].Value = false;
}
}
}
};
sensor.Start();
Console.ReadLine();
}
}
/// <summary>
/// For this test, connect the ultrasonic sensor to pins 23 and 24.
/// See http://sensorkit.joy-it.net/index.php?title=KY-050_Ultraschallabstandssensor for a cabling diagram using the KY-050 sensor module
/// together with a KY-051 voltage translator. But note that this example uses GPIO.23 and GPIO.24 instead of GPIO.17 and GPIO.27 there.
/// </summary>
public static void TestUltrasonicSensor()
{
ConsoleColor color;
using var sensor = new UltrasonicHcsr04(Pi.Gpio[BcmPin.Gpio23], Pi.Gpio[BcmPin.Gpio24]);
sensor.OnDataAvailable += (s, e) =>
{
Terminal.Clear();
if (!e.IsValid)
{
Terminal.WriteLine("Sensor could not be read (distance to close?).");
}
else if (e.HasObstacles)
{
if (e.Distance <= 10)
{
color = ConsoleColor.DarkRed;
}
else if (e.Distance <= 20)
{
color = ConsoleColor.DarkYellow;
}
else if (e.Distance <= 30)
{
color = ConsoleColor.Yellow;
}
else if (e.Distance <= 40)
{
color = ConsoleColor.Green;
}
else if (e.Distance <= 50)
{
color = ConsoleColor.Blue;
}
else
{
color = ConsoleColor.White;
}
var distance = e.Distance < 57 ? e.Distance : 58;
Terminal.WriteLine($"{new string('█', (int)distance)}", color);
Terminal.WriteLine("--------------------------------------------------------->");
Terminal.WriteLine(" 10 20 30 40 50 cm");
Terminal.WriteLine($"Obstacle detected at {e.Distance:N2}cm / {e.DistanceInch:N2}in\n");
}
else
{
Terminal.WriteLine("No obstacles detected.");
}
Terminal.WriteLine(ExitMessage);
};
sensor.Start();
while (true)
{
var input = Terminal.ReadKey(true).Key;
if (input != ConsoleKey.Escape)
{
continue;
}
break;
}
}
public HcSrHandler(DeviceClient deviceClient)
{
this.deviceClient = deviceClient;
this.sensorInstance = new UltrasonicHcsr04(Pi.Gpio[BcmPin.Gpio11], Pi.Gpio[BcmPin.Gpio12]);
this.sensorInstance.OnDataAvailable += HandleObstacleAsync;
}
public static void TestUltrasonicSensor()
{
ConsoleColor color;
using (var sensor = new UltrasonicHcsr04(Pi.Gpio[BcmPin.Gpio23], Pi.Gpio[BcmPin.Gpio24]))
{
sensor.OnDataAvailable += (s, e) =>
{
Console.Clear();
if (!e.IsValid)
{
return;
}
if (e.HasObstacles)
{
if (e.Distance <= 10)
{
color = ConsoleColor.DarkRed;
}
else if (e.Distance <= 20)
{
color = ConsoleColor.DarkYellow;
}
else if (e.Distance <= 30)
{
color = ConsoleColor.Yellow;
}
else if (e.Distance <= 40)
{
color = ConsoleColor.Green;
}
else if (e.Distance <= 50)
{
color = ConsoleColor.Blue;
}
else
{
color = ConsoleColor.White;
}
var distance = e.Distance < 57 ? e.Distance : 58;
$"{new string('█', (int)distance)}".WriteLine(color);
"--------------------------------------------------------->".WriteLine();
" 10 20 30 40 50 cm".WriteLine();
$"Obstacle detected at {e.Distance:N2}cm / {e.DistanceInch:N2}in\n".WriteLine();
}
else
{
"No obstacles detected.\n".Info("HC - SR04");
}
ExitMessage.WriteLine();
};
sensor.Start();
while (true)
{
var input = Console.ReadKey(true).Key;
if (input != ConsoleKey.Escape)
{
continue;
}
break;
}
}
}