Andrew Lindsay / MaxbotixDriver

Maxbotix ultrasonic distance sensor library

Fork of MaxbotixDriver by Daniel Casner

Diff: sonar.cpp

Revision:
1:330989f98a6e
Parent:
0:7e65f5077f5a
Child:
3:c231deea4d36
--- a/sonar.cpp	Wed Nov 21 20:47:05 2012 +0000
+++ b/sonar.cpp	Sun Dec 27 19:47:07 2015 +0000
@@ -13,6 +13,10 @@
     return range;
 }
 
+int Sonar::readCm() {
+    return range  / 58; // 58uS per CM
+}
+
 Sonar::operator int() {
     return read();
 }
@@ -24,5 +28,5 @@
 void Sonar::pulseStop() {
     int endTime = time.read_us();
     if (endTime < pulseStartTime) return; // Escape if there's been a roll over
-    range = (endTime - pulseStartTime) / 58; // 58uS per CM
+    range = (endTime - pulseStartTime); //   / 58; // 58uS per CM
 }
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