dept-of-scrapyard-robotics/hc-sr04

Drive HC-SR04 ultrasonic distance sensors over GPIO with PHP

0.4.3 2026-06-13 05:47 UTC

Requires

• php: ^8.3
• scrapyard-io/bare-metal: ^0.4.0
• scrapyard-io/reality-interface: ^0.4.0
• scrapyard-io/waveforms: ^0.4.0

Suggests

• scrapyard-io/gpio: ^0.4.0 - For direct linux-based GPIO

MIT

• Angel Gonzalez

• framework
• scrapyard-io

README

Native (POSIX) driver. (Single Board Computers)

use DeptOfScrapyardRobotics\Sensors\HCSR04;
use RealityInterface\Sensors\Enums\LengthUnit;

$native_sensor = HCSR04::connection('native', 0)
    ->echo(22)
    ->trig(24)
    ->create();
     

// Trigger a Pulse
$native_sensor->fire();

// Pull a reading
$distance = $native_sensor->distance(LengthUnit::CM);  

USB (MPSSE) driver. (Linux and MacOS)

Not Recommended or Supported.

Alternative Usage

Using Through the Sensor Library (as an Ultrasonic Distance Sensor)

use RealityInterface\Sensors\Enums\LengthUnit;
use DeptOfScrapyardRobotics\Sensors\HCSR04\HCSR04;
use RealityInterface\Sensors\Applied\Distance\UltrasonicDistanceSensor;

$hc_sr04 = HCSR04::connection('native', 0)
    ->echo(22)
    ->trig(24)
    ->create();

$sensor = UltrasonicDistanceSensor::as($hc_sr04)->units(LengthUnit::FT);

// Get a distance measurement
$sensor->pulse();
$feet_away = $sensor->readDistance();

// Get a measurement object
$event = $sensor->measure();

Using Through the Sensor Library (as a Generic Distance Sensor)

use RealityInterface\Sensors\Enums\LengthUnit;
use DeptOfScrapyardRobotics\Sensors\HCSR04\HCSR04;
use RealityInterface\Sensors\Applied\Distance\DistanceSensor;

$hc_sr04 = HCSR04::connection('native', 0)
    ->echo(22)
    ->trig(24)
    ->create();

$sensor = DistanceSensor::as($hc_sr04)->units(LengthUnit::FT);

// Get a distance measurement
$feet_away = $sensor->getDistance();

// Get a measurement object
$event = $sensor->measure();

Using Through the Sensor Framework (with an autoloaded config) (as an Ultrasonic Distance Sensor)

use RealityInterface\Sensors\Applied\Distance\UltrasonicDistanceSensor;

$sensor = UltrasonicDistanceSensor::using('hc-sr04')

// Get a distance measurement
$sensor->pulse();
$feet_away = $sensor->readDistance();

// Get a measurement object
$event = $sensor->measure();

Using Through the Sensor Framework (with an autoloaded config) (as a Generic Distance Sensor)

use RealityInterface\Sensors\Applied\Distance\DistanceSensor;

$sensor = DistanceSensor::using('hc-sr04')

// Get a distance measurement
$sensor->pulse();
$feet_away = $sensor->readDistance();

// Get a measurement object
$event = $sensor->measure();