vexsonar.c File Reference

Ultrasonic distance sensor driver. More...

#include <stdlib.h>
#include "ch.h"
#include "hal.h"
#include "vex.h"

Macros
#define	SONAR_ENABLED   0x01
	flag to indicate sonar is enabled More...
#define	SONAR_INSTALLED   0x02
	flag to indicate sonar is installed More...
#define	SONAR_TIMEOUT   40000
	Default timeout for sonar, 40mS. More...

Enumerations
enum	tVexSonnarState { kSonarStatePing = 0, kSonarStateWait, kSonarStateDone, kSonarStateError }
	Internal sonar driver states. More...

Functions
void	vexSonarAdd (tVexSonarChannel channel, tVexDigitalPin pa, tVexDigitalPin pb)
	Add a sonar to the array of installed sonars. More...
void	vexSonarStart (tVexSonarChannel channel)
	Start a sonar by enabling the interrupt port. More...
void	vexSonarStop (tVexSonarChannel channel)
	Stop a sonar by disabling the interrupt port. More...
void	vexSonarStartAll ()
	Enable all installed sonars. More...
void	vexSonarRun ()
	Start the sonar polling task if at least one sonar is installed. More...
void	vexSonarPing (tVexSonarChannel channel)
	Start 10uS pulse to initiate sonar ping. More...
int16_t	vexSonarGetCm (tVexSonarChannel channel)
	Get sonar value in cm. More...
int16_t	vexSonarGetInch (tVexSonarChannel channel)
	Get sonar value in inches. More...
void	vexSonarDebug (vexStream *chp, int argc, char *argv[])
	Send useful information to debug console. More...

Detailed Description

Ultrasonic distance sensor driver.

Macro Definition Documentation

#define SONAR_ENABLED   0x01

flag to indicate sonar is enabled

#define SONAR_INSTALLED   0x02

flag to indicate sonar is installed

#define SONAR_TIMEOUT   40000

Default timeout for sonar, 40mS.

Enumeration Type Documentation

enum tVexSonnarState

Internal sonar driver states.

Enumerator
kSonarStatePing
kSonarStateWait
kSonarStateDone
kSonarStateError

Function Documentation

void vexSonarAdd	(	tVexSonarChannel	channel,
		tVexDigitalPin	pa,
		tVexDigitalPin	pb
	)

Add a sonar to the array of installed sonars.

Parameters

[in]	channel	The sonar channel
[in]	pa	The first input pin used by the sonar
[in]	pb	The second input pin used by the sonat

void vexSonarStart

(

tVexSonarChannel

channel)

Start a sonar by enabling the interrupt port.

Parameters

[in]

channel

The sonar channel

void vexSonarStop

(

tVexSonarChannel

channel)

Stop a sonar by disabling the interrupt port.

Parameters

[in]

channel

The sonar channel

void vexSonarStartAll

(

void

)

Enable all installed sonars.

void vexSonarRun

(

void

)

Start the sonar polling task if at least one sonar is installed.

void vexSonarPing

(

tVexSonarChannel

channel)

Start 10uS pulse to initiate sonar ping.

Parameters

[in]

channel

The sonar channel

Note

Internal sonar driver function

int16_t vexSonarGetCm

(

tVexSonarChannel

channel)

Get sonar value in cm.

Parameters

[in]

channel

The sonar channel

Returns

The distance in cm

int16_t vexSonarGetInch

(

tVexSonarChannel

channel)

Get sonar value in inches.

Parameters

[in]

channel

The sonar channel

Returns

The distance in inches

void vexSonarDebug	(	vexStream *	chp,
		int	argc,
		char *	argv[]
	)

Send useful information to debug console.

Parameters

[in]	chp	A pointer to a vexStream object
[in]	argc	The number of command line arguments
[in]	argv	An array of pointers to the command line args