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Test SharpIR and QTRSensor, change max controllers to 1
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‎components/arduino/CMakeLists.txt‎

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set(LIBRARY_SRCS
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libraries/APDS9960/src/Arduino_APDS9960.cpp
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libraries/ESP32-SharpIR/src/ESP32SharpIR.cpp
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libraries/ESP32Servo/src/ESP32PWM.cpp
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libraries/ESP32Servo/src/ESP32Servo.cpp
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libraries/QTRSensors/src/QTRSensors.cpp
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libraries/SharpIR/src/SharpIR.cpp
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# libraries/ArduinoOTA/src/ArduinoOTA.cpp
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# libraries/AsyncUDP/src/AsyncUDP.cpp
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# libraries/BluetoothSerial/src/BluetoothSerial.cpp
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cores/esp32/
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libraries/APDS9960/src
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libraries/ESP32Servo/src
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libraries/ESP32-SharpIR/src
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libraries/QTRSensors/src
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libraries/SharpIR/src
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# libraries/ArduinoOTA/src
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# libraries/AsyncUDP/src
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# libraries/BLE/src

‎components/arduino/libraries/ESP32-SharpIR/CHANGELOG.md‎

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# Change Log
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All notable changes to this project will be documented in this file.
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The format is based on [Keep a Changelog](http://keepachangelog.com/)
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## [1.0.0] - 2019-04-28 ##
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### First Release ###
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- Support ESP32 development board
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- For only GP2Y0A21YK0F

‎components/arduino/libraries/ESP32-SharpIR/LICENSE‎

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‎components/arduino/libraries/ESP32-SharpIR/README.md‎

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[![License: GPL v3](https://img.shields.io/badge/License-GPL%20v3-blue.svg)](http://www.gnu.org/licenses/gpl-3.0)
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# ESP32SharpIR
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An Arduino library for ESP32 development board that can measure distance from an analog Sharp IR sensor.
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## Currently supported sensor models
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- GP2Y0A21YK0F
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## Usage
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- Adding the library to the sketch
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~~~c++
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#include <ESP32SharpIR.h>
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~~~
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- Creating an instance
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~~~c++
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SharpIR sensorName(sensorModel, sensorPin);
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~~~
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~~~
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sensorName : the name of the object
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sensorModel : the model code of the sensor (e.g. GP2YA41SK0F)
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sensorPin : the analog pin where the sensor Vout pin is attached
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~~~
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- Acquiring data
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~~~c++
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sensorName.getDistance();
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sensorName.getDistance( avoidBurstRead );
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~~~
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~~~
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avoidBurstRead : can be true or false
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~~~
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The above method returns an uint8_t type value that is the distance in centimeters from the sensor and the object in front of it.
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By default burst reads are avoided but this causes a delay of 20ms on every call.
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In order to speed up the sketch is possible to allow bust reads by setting the parameter **avoidBurstRead** to **false**, in this way:
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~~~c++
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sensorName.getDistanceFloat();
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sensorName.getDistanceFloat( avoidBurstRead );
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~~~
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Above method returns the distance in cm, as a float value filtered by exponent filter.
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~~~c++
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sensorName.getRawDistance();
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sensorName.getRawDistance( avoidBurstRead );
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~~~
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Above method returns just the raw distance read by the sensor, without applying any filter in cm.
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~~~c++
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sensorName.setFilterRate(float rate);
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~~~
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~~~
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rate : a value from the range from 0.01 to 0.99.
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0.01 equal to sampling 100 values and getting the average.
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~~~
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## License ##
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<a rel="license" href="http://creativecommons.org/licenses/by-sa/4.0/">
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<img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by-sa/4.0/88x31.png" />
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</a>
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<br />
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<span xmlns:dct="http://purl.org/dc/terms/" property="dct:title">The SharpIR Library</span>
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by <a xmlns:cc="http://creativecommons.org/ns#" href="https://nuwanjaliyagoda.com" property="cc:attributionName" rel="cc:attributionURL">Nuwan Jaliyagoda</a> is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by-sa/4.0/">Creative Commons Attribution-ShareAlike 4.0 International License</a>
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The library is based on the library 'Arduino_SharpIR', written by <a xmlns:cc="http://creativecommons.org/ns#" href="https://facebook.com/dev.giuseppemasino" property="cc:attributionName" rel="cc:attributionURL">Giuseppe Masinos</a>

‎components/arduino/libraries/ESP32-SharpIR/examples/getDistance/getDistance.ino‎

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#include <ESP32SharpIR.h>
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ESP32SharpIR sensor( ESP32SharpIR::GP2Y0A21YK0F, 27);
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void setup() {
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Serial.begin(115200);
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// Setting the filter resolution to 0.1
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sensor.setFilterRate(0.1f);
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}
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void loop() {
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// Print distance in cm
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//Serial.println(sensor.getDistance());
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// Print distance in cm, as a float value
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Serial.println(sensor.getDistanceFloat());
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delay(100);
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}

‎components/arduino/libraries/ESP32-SharpIR/keywords.txt‎

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ESP32SharpIR KEYWORD1 DATA_TYPE
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getDistance KEYWORD2
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getDistanceFloat KEYWORD2
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getRawDistance KEYWORD2
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setFilterRate KEYWORD2
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GP2YA41SK0F LITERAL1 RESERVED_WORD_2
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GP2Y0A21YK0F LITERAL1 RESERVED_WORD_2
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GP2Y0A02YK0F LITERAL1 RESERVED_WORD_2

‎components/arduino/libraries/ESP32-SharpIR/library.properties‎

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name=ESP32-SharpIR
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version=1.0.1
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author=Nuwan Jaliyagoda (NuwanJ)
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maintainer=Nuwan Jaliyagoda (NuwanJ)
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sentence=Can measure distance from SharpIR sensors using this library
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paragraph=
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category=Sensors
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url=https://github.com/NuwanJ/ESP32-SharpIR.git
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architectures=esp32
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dot_a_linkage=false
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includes=ESP32SharpIR.h

‎components/arduino/libraries/ESP32-SharpIR/src/ESP32SharpIR.cpp‎

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#include "ESP32SharpIR.h"
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ESP32SharpIR::ESP32SharpIR( sensorCode _sensorType , uint8_t _sensorPin ) {
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// Assign sensor type and pin number
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sensorType = _sensorType;
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pin = _sensorPin;
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// Set ADC unit resolution on ESP32
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analogReadResolution(ANALOG_RESOLUTION);
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}
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void ESP32SharpIR::setFilterRate(float rate) {
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if (rate > 0 && rate < 1) alpha = rate;
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}
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float ESP32SharpIR::getDistanceFloat(bool avoidBurstRead ) {
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if ( !avoidBurstRead ) while ( millis() <= lastTime + 20 ) {} //wait for sensor's sampling time
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rawDistance = getRawDistance(avoidBurstRead);
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average = (alpha * rawDistance) + (1 - alpha) * average; // exponential smoothing
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#ifdef DEBUG
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Serial.printf("%f %f\n", rawDistance, average);
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#endif
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return average;
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}
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uint8_t ESP32SharpIR::getDistance(bool avoidBurstRead ) {
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return (uint8_t)getDistanceFloat(avoidBurstRead );
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}
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uint8_t ESP32SharpIR::getRawDistance( bool avoidBurstRead ) {
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uint8_t distance ;
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if (!avoidBurstRead) while ( millis() <= lastTime + 20 ) {} //wait for sensor's sampling time
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lastTime = millis();
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switch ( sensorType )
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{
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case GP2Y0A41SK0F :
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// TODO: Implement
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distance = 0;// 2076/(analogRead(pin)-11);
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if (distance > 30) return 31;
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else if (distance < 4) return 3;
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else return distance;
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break;
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case GP2Y0A21YK0F :
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distance = (28400) / (analogRead(pin));
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if (distance > 80) return 81;
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else if (distance < 10) return 9;
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else return distance;
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break;
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case GP2Y0A02YK0F :
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// TODO: Implement
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distance = 0;// 9462/(analogRead(pin)-16.92);
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if (distance > 150) return 151;
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else if (distance < 20) return 19;
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else return distance;
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}
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// Error, returns -1
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return -1;
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}
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/*
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// White Perpendicular Block, r [0:511]
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d r d*r
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10 330 3300
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12 285 3420
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14 250 3500
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16 230 3680
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18 190 3420
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20 180 3600
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22 160 3520
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24 150 3600
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26 140 3640
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28 130 3640
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30 125 3750
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avg = 3550
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*/

‎components/arduino/libraries/ESP32-SharpIR/src/ESP32SharpIR.h‎

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/*
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SEP32-SharpIR
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Library for the acquisition of distance data from Sharp IR sensors
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*/
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#pragma once
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#include <Arduino.h>
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#define ANALOG_RESOLUTION 12
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//#define DEBUG
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class ESP32SharpIR
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{
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public:
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using sensorCode = const uint8_t ;
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ESP32SharpIR( sensorCode _sensorType , uint8_t _sensorPin );
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float getDistanceFloat(bool avoidBurstRead = true);
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uint8_t getRawDistance( bool avoidBurstRead = true );
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uint8_t getDistance(bool avoidBurstRead = true);
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void setFilterRate(float rate);
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static sensorCode GP2Y0A41SK0F = 0;
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static sensorCode GP2Y0A21YK0F = 1;
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static sensorCode GP2Y0A02YK0F = 3;
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protected:
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uint8_t sensorType, pin ;
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private:
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float alpha = 0.2f;
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float average = 25.0f;
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float rawDistance = 0.0f;
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uint32_t rawReading = 0;
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uint32_t lastTime = 0 ;
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};

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