Add OC ultrasonic helper class

lib/OC/sonic.py

+from micropython import const
+
+from lib.OC import EV3UartSensor
+
+SONIC_SENSOR_ID = const(194)
+
+
+class UltrasonicSensor(EV3UartSensor):
+    MODE_DISTANCE = const(0)
+
+    def __init__(self, port: int):
+        """
+        Initialize a new OC ultrasonic sensor object at the given port.
+        :param port: Port to which the sensor is attached. Use one of Port.S1~Port.S4.
+        """
+        super().__init__(port, SONIC_SENSOR_ID)
+
+    def distance(self) -> int:
+        """
+        Measure the proximity to the nearest object in milimetres.
+        :return: Proximity in milimetres (50-9999)
+        """
+        return self.read_raw_mode(UltrasonicSensor.MODE_DISTANCE)[0]
+    
+    def set_led_distance(self, distance: int):
+        """
+        Set the distance at which the laser sensor LED turns on.
+        :param distance: Distance in milimetres (0-9999)
+        """
+        self.write_command(distance.to_bytes(2, 'little'))
+

oc_sensors/makefile.ci

@@ -3,7 +3,7 @@ SUBPROJECTS = \
     laser_distance_G030J6 \
     laser_distance_G030K8 \
     open_opto_sensor \
-	open_ultrasonic \
+    open_ultrasonic \
     opto_G030K8