CSonar Class Reference

CSonar is used to control VEX ultrasonic range modules, catalog number 276-2155. More...

#include <sonar.h>

List of all members.

Public Member Functions
	CSonar (unsigned int inputPort, unsigned int outputPort)
	Constructor for a sonar module.
	~CSonar ()
int	Fire (bool wait=false)
	Fire the sonar "chirp".
int	GetVal ()
	Get the distnce value in inches.
int	RegisterCallback (void(*callback)(unsigned int inputPort, int val))
	Set a callback routine that get called when an echo is received.
int	UnregisterCallback ()
	Remove the callback routine.

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Detailed Description

CSonar is used to control VEX ultrasonic range modules, catalog number 276-2155.

Up to 8 modules can be used with the VEXPro controller. See CSonarController for methods that control the automated firing of multiple sonar modules (sonar arrays).

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Constructor & Destructor Documentation

CSonar::CSonar	(	unsigned int	inputPort,
		unsigned int	outputPort
	)

Constructor for a sonar module.

Parameters:

	inputPort	the digital port number of the "INPUT" connector of the sonar module. Can be 0 through 15 corresponding to digital connector 1 through 16, respectively.
	outputPort	the digital port number of the "OUTPUT" connector of the sonar module. Can be 0 through 15 corresponding to digital connector 1 through 16, respectively.

CSonar::~CSonar

(

)

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Member Function Documentation

int CSonar::Fire

(

bool

wait = false

)

Fire the sonar "chirp".

Parameters:

wait

if false (default), this method will not wait until the echo is received. If true, this method will wait until the echo is received before returning.

Returns:

0 if not waiting for echo. Returns distance value in inches if waiting. for echo.

int CSonar::GetVal

(

)

Get the distnce value in inches.

int CSonar::RegisterCallback

(

void(*)(unsigned int inputPort, int val)

callback

)

Set a callback routine that get called when an echo is received.

Parameters:

callback

the routine you wish to be called. This routine returns the inputPort number -- the same number passed to the constructor -- and the distance value in inches.

Returns:

0 if success -1 if error.

int CSonar::UnregisterCallback

(

)

Remove the callback routine.

After calling this method, the callback routine set from RegisterCallback will not be called again.

Returns:

0 if success -1 if error.

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The documentation for this class was generated from the following files:

• sonar.h
• sonar.cxx