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Update pin config and fix the distance measure logic #4

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Merged
arghyabi merged 1 commit into from
Sep 21, 2025
Merged

Update pin config and fix the distance measure logic #4

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2 changes: 1 addition & 1 deletion Scripts/GpioManager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ class GpioManager:
def __init__(self):
if RPI_ENV:
print("Running on Raspberry Pi environment.")
GPIO.setmode(GPIO.BCM)
GPIO.setmode(GPIO.BOARD)
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Copilot AI Sep 21, 2025

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Switching the global GPIO mode to BOARD is a breaking change for any callers that may still provide BCM pin numbers. Consider making the numbering mode configurable (e.g., via config/env) and validating at startup, or clearly documenting this change and enforcing it with an assertion/log so misconfigurations are caught early.

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else:
print("Running in a non-Raspberry Pi environment. GPIO operations will be simulated.")
self.state = {}
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25 changes: 14 additions & 11 deletions Scripts/Main.py
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Expand Up @@ -20,25 +20,28 @@ def cleanupGpio(gpio:GpioManager):


def readDistance(gpio:GpioManager, trig, echo):
# Ensure trigger is low
gpio.output(trig, False)
time.sleep(0.05)

# Send a 10us pulse to trigger
gpio.output(trig, True)
time.sleep(0.00001)
gpio.output(trig, False)

pulseStart = None
pulseEnd = None
timeout = time.time() + 1
# Wait for the echo pin to go high
startTime = time.monotonic()
while gpio.input(echo) == 0:
pulseStart = time.time()
if time.time() > timeout:
return -1
if time.monotonic() - startTime > 1:
return -1 # Timeout waiting for echo to start
Comment on lines +35 to +36
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Copilot AI Sep 21, 2025

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The timeout value 1 is duplicated and acts as a magic number. Extract it to a named constant (e.g., TIMEOUT_S = 1.0) and consider also defining a named error sentinel (e.g., DISTANCE_TIMEOUT = -1) to make the intent and usage clearer.

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pulseStart = time.monotonic()

# Wait for the echo pin to go low
while gpio.input(echo) == 1:
pulseEnd = time.time()
if time.time() > timeout:
return -1
if pulseStart is None or pulseEnd is None:
return -1
if time.monotonic() - pulseStart > 1:
return -1 # Timeout waiting for echo to end
Comment on lines +41 to +42
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Copilot AI Sep 21, 2025

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The timeout value 1 is duplicated and acts as a magic number. Extract it to a named constant (e.g., TIMEOUT_S = 1.0) and consider also defining a named error sentinel (e.g., DISTANCE_TIMEOUT = -1) to make the intent and usage clearer.

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pulseEnd = time.monotonic()

pulseDuration = pulseEnd - pulseStart
distance = pulseDuration * 17150
distance = round(distance, 2)
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6 changes: 3 additions & 3 deletions Scripts/PinDescription.py
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@@ -1,3 +1,3 @@
MOTOR_PIN = 17
ULTRASONIC_TRIG = 23
ULTRASONIC_ECHO = 24
MOTOR_PIN = 32
ULTRASONIC_TRIG = 40
ULTRASONIC_ECHO = 38
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Comment on lines +1 to +3
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Copilot AI Sep 21, 2025

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These constants are now physical BOARD pin numbers. Add a brief module-level comment stating that PinDescription uses GPIO.BOARD numbering to avoid confusion with BCM.

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2 changes: 1 addition & 1 deletion config.yaml
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@@ -1,2 +1,2 @@
appVersion: 1.0.1.1001
appVersion: 1.1.0.1002