From d0999b83072e1a99eee9277ba082b10af4c732d4 Mon Sep 17 00:00:00 2001
From: Siwat Sirichai <siwat@siwatinc.com>
Date: Mon, 14 Nov 2022 08:15:28 +0700
Subject: [PATCH] change ultrasonic sensor to analog type

---
 kuukar/kuukar_config.py  |  9 +++------
 kuukar/kuukar_sensors.py | 19 +++++++------------
 2 files changed, 10 insertions(+), 18 deletions(-)

diff --git a/kuukar/kuukar_config.py b/kuukar/kuukar_config.py
index 64783da..18ddfc5 100644
--- a/kuukar/kuukar_config.py
+++ b/kuukar/kuukar_config.py
@@ -2,12 +2,9 @@ SERIAL_MCU = "COM4"
 SERIAL_DRV = "COM20"
 
 # HC Sonar Pins
-SONAR_1_TRIG_PIN = 0
-SONAR_1_ECHO_PIN = 1
-SONAR_2_TRIG_PIN = 2
-SONAR_2_ECHO_PIN = 3
-SONAR_3_TRIG_PIN = 4
-SONAR_3_ECHO_PIN = 5
+SONAR_1_ADC_PIN = 0
+SONAR_2_ADC_PIN = 1
+SONAR_3_ADC_PIN = 2
 
 # Motor Pins
 MOTOR_FL_F = 7
diff --git a/kuukar/kuukar_sensors.py b/kuukar/kuukar_sensors.py
index 03fff7a..e3b27a7 100644
--- a/kuukar/kuukar_sensors.py
+++ b/kuukar/kuukar_sensors.py
@@ -1,14 +1,12 @@
 from telemetrix_rpi_pico import telemetrix_rpi_pico
 
-from kuukar.kuukar_config import DHT22_PIN, SONAR_1_ECHO_PIN, SONAR_1_TRIG_PIN,\
-    SONAR_2_ECHO_PIN, SONAR_2_TRIG_PIN, SONAR_3_ECHO_PIN, SONAR_3_TRIG_PIN,\
-    LIGHT_ANALOG_PIN
+from kuukar.kuukar_config import DHT22_PIN, SONAR_1_ADC_PIN, SONAR_2_ADC_PIN, SONAR_3_ADC_PIN, LIGHT_ANALOG_PIN
 
 
 class sensors:
 
-    __sonar_trig_pins = [SONAR_1_TRIG_PIN,
-                         SONAR_2_TRIG_PIN, SONAR_3_TRIG_PIN]
+    __sonar_adc_pins = [SONAR_1_ADC_PIN,
+                         SONAR_2_ADC_PIN, SONAR_3_ADC_PIN]
     __sonar_distances = [0, 0, 0]
     __temperature = 0
     __humidity = 0
@@ -16,12 +14,9 @@ class sensors:
 
     def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
         self.mcu = mcu
-        self.mcu.set_pin_mode_sonar(
-            SONAR_1_TRIG_PIN, SONAR_1_ECHO_PIN, self.__sonar_callback)
-        self.mcu.set_pin_mode_sonar(
-            SONAR_2_TRIG_PIN, SONAR_2_ECHO_PIN, self.__sonar_callback)
-        self.mcu.set_pin_mode_sonar(
-            SONAR_3_TRIG_PIN, SONAR_3_ECHO_PIN, self.__sonar_callback)
+        self.mcu.set_pin_mode_analog_input(SONAR_1_ADC_PIN, 10, self.__sonar_callback)
+        self.mcu.set_pin_mode_analog_input(SONAR_2_ADC_PIN, 10, self.__sonar_callback)
+        self.mcu.set_pin_mode_analog_input(SONAR_3_ADC_PIN, 10, self.__sonar_callback)
         self.mcu.set_pin_mode_dht(DHT22_PIN, self.__dht22_callback)
         self.mcu.set_pin_mode_analog_input(LIGHT_ANALOG_PIN, 0, self.__light_sensor_callback)
 
@@ -31,7 +26,7 @@ class sensors:
     def __sonar_callback(self, data):
         pin = data[1]
         distance = data[2]
-        sonar_id = self.__sonar_trig_pins.index(pin)
+        sonar_id = self.__sonar_adc_pins.index(pin)
         self.__sonar_distances[sonar_id] = distance
 
     def get_brightness_pct(self) -> float: