Stensat StenBOT Rover Kit, Manual

Page: 116 / 180

116 116
Making a Function
●
To make this useful for other
programs, this program needs to
be turned into a function.
●
A function is a subroutine or
chunk of code that can be called
by a name instead of the code
being inserted where ever it is
needed. This function will return a
result.
●
The return command specifies
which variable is sent back to the
calling code.
long ultrasonic()
{
digitalWrite(5,LOW);
delayMicroseconds(2);
digitalWrite(5,HIGH);
delayMicroseconds(10);
digitalWrite(5,LOW);
long distance = pulseIn(3,HIGH);
if(distance == 0) return(1000);
distance = distance/58;
return(distance);
}
The function
pulseIn()
returns
the number of microseconds.
The result is then divided by 58 to
calculate the distance in
centimeters.