add comment and fix bug

Author: YoshinobuObata

examples/Ultrasonic/Ultrasonic.ino

@@ -0,0 +1,26 @@
+/*
+  Ultrasonic
+
+  Raging ultrasonic sensor distance measurement example for MakerBoard.
+  Please connect an ultrasonic sensor to the ultrasonic sensor pins.
+
+  This example code is in the public domain.
+
+  https://github.com/YUKAI/MakerBoard/tree/develop/examples/Ultrasonic
+*/
+
+#include <MakerBoard.h>
+MakerBoard board;
+MakerBoard::Ultrasonic ultrasonic(board.GROVE_CON1_SIG, board.GROVE_CON1_OPT);
+
+void setup() {
+  Serial.begin(9600);
+}
+
+void loop() {
+  long distance = ultrasonic.Ranging();
+  Serial.print("Distance: ");
+  Serial.print(distance);
+  Serial.println(" cm");
+  delay(1000);
+}

src/MakerBoard.cpp

@@ -2,103 +2,12 @@
  * @file MakerBoard.h
  * @author Yoshinobu Obata
  * @brief Standard library for メイカーボード
- * @version 0.1
- * @date 2024-09-10
+ * @version 1.0.3
+ * @date 2026-01-20
  * Change log:
+ * 2026-01-20: Added Ultrasonic class for ultrasonic sensor support.
  * 
- * @copyright Copyright (c) 2024 Yukai Engineering Inc.
- * 
- */
-#include <Arduino.h>
-#include "MakerBoard.h"
-#include <MsTimer2.h>
-
-MakerBoardMotor Motor1(MakerBoard::DCM1_A, MakerBoard::DCM1_B);
-MakerBoardMotor Motor2(MakerBoard::DCM2_A, MakerBoard::DCM2_B);
-MakerBoardMotor Motor3(MakerBoard::DCM3_A, MakerBoard::DCM3_B);
-MakerBoardMotor Motor4(MakerBoard::DCM4_A, MakerBoard::DCM4_B);
-
-/**
- * @brief DCモーターのピン設定．GPIO２〜GPIO９ピンが使用される．
- * (Configure the DC motor driver pins from GPIO2 to GPIO9.)
- */
-void MakerBoard::motorPinSetup(){
-  pinMode(this->DCM1_A, OUTPUT);
-  pinMode(this->DCM1_B, OUTPUT);
-  pinMode(this->DCM2_A, OUTPUT);
-  pinMode(this->DCM2_B, OUTPUT);
-  pinMode(this->DCM3_A, OUTPUT);
-  pinMode(this->DCM3_B, OUTPUT);
-  pinMode(this->DCM4_A, OUTPUT);
-  pinMode(this->DCM4_B, OUTPUT);
-}
-
-/**
- * @brief モーターを回転させ，パルスのトップをカウントする．このメソッドはTIMER_FREQUENCYでタイマー実行されることを想定している．
- * (Rotate the motor and count the top of the pulses. This method is assumed to be executed by a timer with TIMER_FREQUENCY.)
- * 
- */
-static void MakerBoard::motorPulseCounter()
-{
-  Motor1.run();
-  Motor2.run();
-  Motor3.run();
-  Motor4.run();
-  Motor1.top_cnt++;
-  Motor2.top_cnt++;
-  Motor3.top_cnt++;
-  Motor4.top_cnt++;
-  if (Motor1.top_cnt > Motor1.PERIODIC_TIME){
-    Motor1.top_cnt = 0;
-  }
-  if (Motor2.top_cnt > Motor2.PERIODIC_TIME){
-    Motor2.top_cnt = 0;
-  }
-  if (Motor3.top_cnt > Motor3.PERIODIC_TIME){
-    Motor3.top_cnt = 0;
-  }
-  if (Motor4.top_cnt > Motor4.PERIODIC_TIME){
-    Motor4.top_cnt = 0;
-  }
-}
-
-/**
- * @brief DCモーターのPWMを生成する．(Set time for DC motor PWM control.)
- * 
- */
-void MakerBoard::motorPWMBegin(){
-  // Set DC motor control PWM generation with timer
-  this->motorPinSetup();
-  MsTimer2::set(this->TIMER_FREQUENCY, this->motorPulseCounter);
-  MsTimer2::start();
-}
-
-/**
- * @brief 超音波センサのコンストラクタ．(Constructor of Ultrasonic sensor.)
- */
-MakerBoard::Ultrasonic::Ultrasonic(int TP, int EP)
-{
-  TP = TP;
-  EP = EP;
-}
-
-/**
- * @brief 超音波センサ(HC-SR04)で距離を測定する．(Measure distance with Ultrasonic sensor.)
- */
-long MakerBoard::Ultrasonic::Ranging(){
-  pinMode(TP,OUTPUT);
-  pinMode(EP,INPUT);
-
-  digitalWrite(TP, LOW);
-  delayMicroseconds(2);/**
- * @file MakerBoard.h
- * @author Yoshinobu Obata
- * @brief Standard library for メイカーボード
- * @version 0.1
- * @date 2024-09-10
- * Change log:
- * 
- * @copyright Copyright (c) 2024 Yukai Engineering Inc.
+ * @copyright Copyright (c) 2026 Yukai Engineering Inc.
  * 
  */
 #include <Arduino.h>
@@ -180,14 +89,6 @@ long MakerBoard::Ultrasonic::Ranging(){
   delayMicroseconds(10);
   digitalWrite(TP, LOW);
 
-  long duration = pulseIn(EP,HIGH);
-  long distance_cm = duration /29 / 2 ;
-  return distance_cm;
-}
-  digitalWrite(TP, HIGH);
-  delayMicroseconds(10);
-  digitalWrite(TP, LOW);
-
   long duration = pulseIn(EP,HIGH);
   long distance_cm = duration /29 / 2 ;
   return distance_cm;

src/MakerBoard.h

@@ -2,11 +2,12 @@
  * @file MakerBoard.h
  * @author Yoshinobu Obata
  * @brief Standard library for メイカーボード
- * @version 0.1
- * @date 2024-09-10
+ * @version 1.0.3
+ * @date 2026-01-20
  * Change log:
+ * 2026-01-20: Added Ultrasonic class for ultrasonic sensor support.
  * 
- * @copyright Copyright (c) 2024 Yukai Engineering Inc.
+ * @copyright Copyright (c) 2026 Yukai Engineering Inc.
  * 
  */
 #ifndef MakerBoard_H