ultrasonidos test

webserver.js

@@ -18,8 +18,9 @@ var RED = new Gpio(4, { mode: Gpio.OUTPUT });
 var GREEN = new Gpio(17, { mode: Gpio.OUTPUT });
 var BLUE = new Gpio(27, { mode: Gpio.OUTPUT });
 var motor = new Gpio(13, { mode: Gpio.OUTPUT });
-var trigger = new Gpio(23, {mode: Gpio.OUTPUT}),
+var trigger = new Gpio(23, {mode: Gpio.OUTPUT});
 var echo = new Gpio(24, {mode: Gpio.INPUT, alert: true});
+var obstaculo = false;
 
 var MICROSECDONDS_PER_CM = 1e6/34321;
 
@@ -43,11 +44,18 @@ trigger.digitalWrite(0);
     } else {
       endTick = tick;
       diff = (endTick >> 0) - (startTick >> 0); // Unsigned 32 bit arithmetic
+
       console.log(diff / 2 / MICROSECDONDS_PER_CM);
+
+      if((diff / 2 / MICROSECDONDS_PER_CM) < 10.0){
+        obstaculo = true;
+      }else{
+        obstaculo = false;
+      }
+
     }
   });
 }());
-
 // Trigger a distance measurement once per second
 setInterval(function () {
   trigger.trigger(10, 1); // Set trigger high for 10 microseconds
@@ -92,6 +100,11 @@ function cerrarPuerta(){
             clearInterval(intervalo);
         }
 
+        if(obstaculo){
+          clearInterval(intervalo);
+          abrirPuerta();
+        }
+
     }, 100);
 }