jvoermans
commented
3 years ago @jerabaul29
This is what I have so far for the mega (copied only the relevant parts). It is probably inefficient, but on a barebone mega works perfectly fine. The Ping gives a 'highest confidence distance' and provides confidence as well. I've noticed that 80% confidence is reasonable as long as there are sufficient observations at that interval.
// Sonar ping
include "ping1d.h"
static const uint8_t arduinoRxPin = 17; //Serial1 rx (white) static const uint8_t arduinoTxPin = 16; //Serial1 tx (green) static Ping1D ping { Serial2 }; int count_sonar = 0; //define sonar counter int Sonar; //if Sonar is present int S1; //sonar: distance int S2; //sonar: confidence level long S80_ave = 0L; long S90_ave = 0L; long S100_ave = 0L; int S80_count = 0; int S90_count = 0; int S100_count = 0; int Distance; //Distance measurement
void setup() {
//set Sonar Serial2.begin(9600); ping.set_speed_of_sound(1500000); if (ping.initialize() == true) { Sonar = 1; } else { Sonar = 0; } }
void loop() {
if (Sonar == 1) {
while (count_sonar < 10) { //count_sonar can't be too big, or GPS will do difficult
if (ping.update()) {
S1 = ping.distance();
S2 = ping.confidence();
//Print confidence and distance
Serial.print(S1);Serial.print(" ");Serial.println(S2);
//Consider only data with confidence level of 80 and higher
if (S2 >= 80 && S2 < 90) {
S80_ave = S80_ave + S1;
S80_count++;
}
if (S2 >= 90 && S2 < 100) {
S90_ave = S90_ave + S1;
S90_count++;
}
if (S2 == 100) {
S100_ave = S100_ave + S1;
S100_count++;
}
}
count_sonar++;
}
}
count_sonar = 0;
count++;//Take highest confidence interval possible if (S100_count > 30) { Distance = S100_ave / S100_count; Serial.print("C100 ");Serial.println(S100_count); } else if (S90_count > 30) { Distance = S90_ave / S90_count; Serial.print("C90 ");Serial.println(S90_count); } else if (S80_count > 30) { Distance = S80_ave / S80_count; Serial.print("C80 ");Serial.println(S80_count); } else { Distance = 0; }
}
jerabaul29
@jerabaul29 add the sonar to the Due logging.