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      1 /*
      2  * Author: Jon Trulson <jtrulson (at) ics.com>
      3  * Copyright (c) 2015 Intel Corporation.
      4  *
      5  * Permission is hereby granted, free of charge, to any person obtaining
      6  * a copy of this software and associated documentation files (the
      7  * "Software"), to deal in the Software without restriction, including
      8  * without limitation the rights to use, copy, modify, merge, publish,
      9  * distribute, sublicense, and/or sell copies of the Software, and to
     10  * permit persons to whom the Software is furnished to do so, subject to
     11  * the following conditions:
     12  *
     13  * The above copyright notice and this permission notice shall be
     14  * included in all copies or substantial portions of the Software.
     15  *
     16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
     17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
     18  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
     19  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
     20  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
     21  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
     22  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
     23  */
     24 
     25 #include <unistd.h>
     26 #include <iostream>
     27 #include <signal.h>
     28 #include "maxsonarez.h"
     29 
     30 using namespace std;
     31 
     32 bool shouldRun = true;
     33 
     34 #define MAXSONAREZ_AREF   5.0
     35 
     36 void sig_handler(int signo)
     37 {
     38   if (signo == SIGINT)
     39     shouldRun = false;
     40 }
     41 
     42 int main()
     43 {
     44   signal(SIGINT, sig_handler);
     45 
     46 //! [Interesting]
     47 
     48   // Instantiate a MaxSonarEZ on analog pin A1, with an analog
     49   // reference voltage of MAXSONAREZ_AREF
     50   upm::MAXSONAREZ *sonar = new upm::MAXSONAREZ(1, MAXSONAREZ_AREF);
     51 
     52   // Every second, sample the sonar and output the distance to an
     53   // object in inches.
     54 
     55   // With the EZ3 version, the minimum and maximum ranges seemed to be
     56   // between 6 and 33 inches
     57 
     58   while (shouldRun)
     59     {
     60       cout << "AREF: " << MAXSONAREZ_AREF
     61            << ", distance in inches: " << sonar->inches() << endl;
     62 
     63       sleep(1);
     64     }
     65 
     66 //! [Interesting]
     67 
     68   cout << "Exiting" << endl;
     69 
     70   delete sonar;
     71   return 0;
     72 }
     73