#!/usr/bin/python
# Author: Jon Trulson <jtrulson@ics.com>
# Copyright (c) 2015 Intel Corporation.
#
# Permission is hereby granted, free of charge, to any person obtaining
# a copy of this software and associated documentation files (the
# "Software"), to deal in the Software without restriction, including
# without limitation the rights to use, copy, modify, merge, publish,
# distribute, sublicense, and/or sell copies of the Software, and to
# permit persons to whom the Software is furnished to do so, subject to
# the following conditions:
#
# The above copyright notice and this permission notice shall be
# included in all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

import time, sys, signal, atexit
import pyupm_maxsonarez as MaxSonarEZ

# Instantiate a MaxSonar-EZ on analog pin A1, with an analog
# reference voltage of MAXSONAREZ_AREF
Sonar = MaxSonarEZ.MAXSONAREZ(1)

## Exit handlers ##
# This stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
	raise SystemExit

# This lets you run code on exit,
# including functions from Sonar
def exitHandler():
	print "Exiting"
	sys.exit(0)

# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)


# analog voltage, usually 3.3 or 5.0
MAXSONAREZ_AREF = 5.0;

# Every second, sample the sonar and output the distance to an
# object in inches.

# With the EZ3 version, the minimum and maximum ranges seemed to be
# between 6 and 33 inches

while (1):
	print "AREF: {0}, distance in inches: {1}".format(
                MAXSONAREZ_AREF,
                Sonar.inches())
	time.sleep(1)