vexsonar.h File Reference

Ultrasonic distance sensor driver macros and prototypes. More...

Go to the source code of this file.

Data Structures
struct	_vexSonar_t
	Holds information relating to a sonar. More...

Typedefs
typedef struct _vexSonar_t	vexSonar_t
	Holds information relating to a sonar. More...

Enumerations
enum	tVexSonarChannel {   kVexSonar_1 = 0, kVexSonar_2, kVexSonar_3, kVexSonar_4,   kVexSonar_5, kVexSonar_Num }
	Sonar channel number. 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 (void)
	Enable all installed sonars. More...
void	vexSonarPing (tVexSonarChannel channel)
	Start 10uS pulse to initiate sonar ping. More...
void	vexSonarDebug (vexStream *chp, int argc, char *argv[])
	Send useful information to debug console. More...
void	vexSonarRun (void)
	Start the sonar polling task if at least one sonar is installed. More...
int16_t	vexSonarGetCm (tVexSonarChannel channel)
	Get sonar value in cm. More...
int16_t	vexSonarGetInch (tVexSonarChannel channel)
	Get sonar value in inches. More...

Detailed Description

Ultrasonic distance sensor driver macros and prototypes.

Typedef Documentation

typedef struct _vexSonar_t vexSonar_t

Holds information relating to a sonar.

Note

pin refers to the digital pin 1 through 12, port refers to the STM32 port, GPIOA, GPIOB etc. pad refers to the bit on the digital port 0 through 15

Enumeration Type Documentation

enum tVexSonarChannel

Sonar channel number.

Enumerator
kVexSonar_1
kVexSonar_2
kVexSonar_3
kVexSonar_4
kVexSonar_5
kVexSonar_Num

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 vexSonarPing

(

tVexSonarChannel

channel)

Start 10uS pulse to initiate sonar ping.

Parameters

[in]

channel

The sonar channel

Note

Internal sonar driver function

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

void vexSonarRun

(

void

)

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

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