To be clear, there are of course already existing libraries. But my goal was that I understand the sensor itself and the associated source code. Furthermore, it will be easier for me to implement some of my own functions. The current status has in comparison to many tutorials on the WWW no significant features. But i have implemented the best hints and tips form various examples and tutorials.
The next bigger changes I want to implement is the switch from simple average distance calculation to median. Additionally the library should get support for multiply sensor handling. For example, to control three front sensors on a robot at the same time.
The repository with examples and source code can be found here: