update ultrasonic sensor

spf/ultrasonic_distance/ultrasonic_distance_controller.py

@@ -0,0 +1,59 @@
+import argparse
+import sys
+import threading
+import time
+
+import RPi.GPIO as GPIO
+
+
+class UtrasonicDistanceController:
+    def __init__(self, trigger=2, echo=3):
+        # assign pins
+        self.trigger = trigger
+        self.echo = echo
+        self.distance = 10000
+
+        # configure board and pins
+        GPIO.setmode(GPIO.BCM)  # GPIO Mode (BOARD / BCM)
+        GPIO.setup(self.trigger, GPIO.OUT)
+        GPIO.setup(self.echo, GPIO.IN)
+
+    def run(self, sample_interval=0.05):
+        # start sensor
+        GPIO.output(self.trigger, GPIO.LOW)
+        time.sleep(2)
+
+        while True:
+            # send pulse
+            GPIO.output(self.trigger, GPIO.HIGH)
+            time.sleep(0.00001)
+            GPIO.output(self.trigger, GPIO.LOW)
+
+            # receive response and calculate distance
+            if GPIO.wait_for_edge(self.echo, GPIO.RISING, timeout=500):
+                StartTime = time.time()
+                if GPIO.wait_for_edge(self.echo, GPIO.FALLING, timeout=700):
+                    StopTime = time.time()
+                    TimeElapsed = StopTime - StartTime
+                    distance = (TimeElapsed * 34300) / 2
+                    self.distance = distance
+            time.sleep(sample_interval)
+
+        # GPIO.cleanup()
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--trigger", type=str, help="trigger", required=False, default=2
+    )
+    parser.add_argument("--echo", type=int, help="echo", required=False, default=3)
+
+    args = parser.parse_args()
+
+    udc = UtrasonicDistanceController(trigger=args.trigger, echo=args.echo)
+    threading.Thread(target=udc.run, daemon=True).start()
+    for x in range(15 * 2):
+        time.sleep(1.0 / 2)
+        print(udc.distance)
+    sys.exit(1)