From 7a4e9df6ceaaffa815871e0f593b634fb1fef809 Mon Sep 17 00:00:00 2001
From: unknown <you@example.com>
Date: Fri, 23 Jan 2026 00:56:10 +0300
Subject: [PATCH] add ultrasonic

---
 src/main.cpp       |  2 ++
 src/ultrasonic.cpp | 38 ++++++++++++++++++++++++++++++++++++++
 src/ultrasonic.h   |  7 +++++++
 src/web_server.cpp |  6 +++++-
 src/web_ui.cpp     |  3 ++-
 5 files changed, 54 insertions(+), 2 deletions(-)
 create mode 100644 src/ultrasonic.cpp
 create mode 100644 src/ultrasonic.h

diff --git a/src/main.cpp b/src/main.cpp
index 512cf82..3a58dfc 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -6,11 +6,13 @@
 #include "robot_state.h"
 #include "ws_server.h"
 #include "servo.h"
+#include "ultrasonic.h"
 
 void setup() {
   Serial.begin(115200);
 
   servoInit();
+  ultrasonicInit();
   actuatorsInit();
   webServerInit();
   wsInit();
diff --git a/src/ultrasonic.cpp b/src/ultrasonic.cpp
new file mode 100644
index 0000000..3a3c27e
--- /dev/null
+++ b/src/ultrasonic.cpp
@@ -0,0 +1,38 @@
+#include <Arduino.h>
+#include "ultrasonic.h"
+
+// ===== PIN CONFIG =====
+#define TRIG_PIN 32
+#define ECHO_PIN 33
+
+// таймаут эха (30 мс ≈ 5 м)
+static const uint32_t ECHO_TIMEOUT_US = 30000;
+
+void ultrasonicInit() {
+  pinMode(TRIG_PIN, OUTPUT);
+  pinMode(ECHO_PIN, INPUT);
+
+  digitalWrite(TRIG_PIN, LOW);
+}
+
+// измерение расстояния
+int ultrasonicReadCm() {
+  // триггер
+  digitalWrite(TRIG_PIN, LOW);
+  delayMicroseconds(2);
+
+  digitalWrite(TRIG_PIN, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(TRIG_PIN, LOW);
+
+  // читаем эхо
+  uint32_t duration = pulseIn(ECHO_PIN, HIGH, ECHO_TIMEOUT_US);
+
+  if (duration == 0) {
+    return -1;  // нет эха
+  }
+
+  // скорость звука ≈ 343 м/с
+  int distance = duration / 58;
+  return distance;
+}
diff --git a/src/ultrasonic.h b/src/ultrasonic.h
new file mode 100644
index 0000000..81320ef
--- /dev/null
+++ b/src/ultrasonic.h
@@ -0,0 +1,7 @@
+#pragma once
+
+void ultrasonicInit();
+
+// возвращает расстояние в см
+// -1 = нет эхо / ошибка
+int ultrasonicReadCm();
diff --git a/src/web_server.cpp b/src/web_server.cpp
index 6755229..0873c73 100644
--- a/src/web_server.cpp
+++ b/src/web_server.cpp
@@ -5,6 +5,7 @@
 #include "web_ui.h"
 #include "controller.h"
 #include "robot_state.h"
+#include "ultrasonic.h"
 
 static WebServer server(80);
 
@@ -68,13 +69,16 @@ void handleMode() {
 }
 
 void handleStatus() {
+  int dist = ultrasonicReadCm();
+
   String json = "{";
 
   json += "\"mode\":\"" + String(modeToStr(robot.mode)) + "\",";
   json += "\"speedL\":" + String(robot.speedL) + ",";
   json += "\"speedR\":" + String(robot.speedR) + ",";
   json += "\"rssi\":" + String(WiFi.RSSI()) + ",";
-  json += "\"uptime\":" + String(millis());
+  json += "\"uptime\":" + String(millis()) + ",";
+  json += "\"distance_cm\":" + String(dist);
 
   json += "}";
 
diff --git a/src/web_ui.cpp b/src/web_ui.cpp
index 3a194ed..d97fa6c 100644
--- a/src/web_ui.cpp
+++ b/src/web_ui.cpp
@@ -125,13 +125,14 @@ function wsConnect(){
         `MODE=${j.mode} | ` +
         `L=${j.speedL} R=${j.speedR} | ` +
         `RSSI=${j.rssi}dBm | ` +
+        `DIST=${j.distance_cm < 0 ? '---' : j.distance_cm + 'cm'} | ` +
         `UP=${Math.floor(j.uptime/1000)}s`
         );
     }catch(e){
         st('STATUS ERR');
     }
   }
-  setInterval(updateStatus, 500);
+  setInterval(updateStatus, 5000);
 
   // управление "пока держишь" (heartbeat)
   function bindHold(btn, onPressCmd){