#include <Ultrasonic.h>
Public Types | |
enum | DistanceUnit { kInches = 0, kMilliMeters = 1 } |
Public Types inherited from PIDSource | |
enum | PIDSourceParameter { kDistance, kRate, kAngle } |
Public Member Functions | |
Ultrasonic (DigitalOutput *pingChannel, DigitalInput *echoChannel, DistanceUnit units=kInches) | |
Ultrasonic (DigitalOutput &pingChannel, DigitalInput &echoChannel, DistanceUnit units=kInches) | |
Ultrasonic (uint32_t pingChannel, uint32_t echoChannel, DistanceUnit units=kInches) | |
Ultrasonic (uint8_t pingModuleNumber, uint32_t pingChannel, uint8_t echoModuleNumber, uint32_t echoChannel, DistanceUnit units=kInches) | |
virtual | ~Ultrasonic () |
void | Ping () |
bool | IsRangeValid () |
double | GetRangeInches () |
double | GetRangeMM () |
bool | IsEnabled () |
void | SetEnabled (bool enable) |
double | PIDGet () |
void | SetDistanceUnits (DistanceUnit units) |
DistanceUnit | GetDistanceUnits () |
void | UpdateTable () |
void | StartLiveWindowMode () |
void | StopLiveWindowMode () |
std::string | GetSmartDashboardType () |
void | InitTable (ITable *subTable) |
ITable * | GetTable () |
Public Member Functions inherited from SensorBase | |
SensorBase () | |
virtual | ~SensorBase () |
Public Member Functions inherited from ErrorBase | |
virtual Error & | GetError () |
Retrieve the current error. Get the current error information associated with this sensor. | |
virtual const Error & | GetError () const |
virtual void | SetErrnoError (const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set error information associated with a C library call that set an error to the "errno" global variable. More... | |
virtual void | SetImaqError (int success, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set the current error information associated from the nivision Imaq API. More... | |
virtual void | SetError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | CloneError (ErrorBase *rhs) const |
virtual void | ClearError () const |
Clear the current error information associated with this sensor. | |
virtual bool | StatusIsFatal () const |
Check if the current error code represents a fatal error. More... | |
Static Public Member Functions | |
static void | SetAutomaticMode (bool enabling) |
Static Public Member Functions inherited from SensorBase | |
static void | DeleteSingletons () |
static uint32_t | GetDefaultAnalogModule () |
static uint32_t | GetDefaultDigitalModule () |
static uint32_t | GetDefaultSolenoidModule () |
static bool | CheckAnalogModule (uint8_t moduleNumber) |
static bool | CheckDigitalModule (uint8_t moduleNumber) |
static bool | CheckPWMModule (uint8_t moduleNumber) |
static bool | CheckRelayModule (uint8_t moduleNumber) |
static bool | CheckSolenoidModule (uint8_t moduleNumber) |
static bool | CheckDigitalChannel (uint32_t channel) |
static bool | CheckRelayChannel (uint32_t channel) |
static bool | CheckPWMChannel (uint32_t channel) |
static bool | CheckAnalogChannel (uint32_t channel) |
static bool | CheckSolenoidChannel (uint32_t channel) |
Static Public Member Functions inherited from ErrorBase | |
static void | SetGlobalError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) |
static void | SetGlobalWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) |
static Error & | GetGlobalError () |
Additional Inherited Members | |
Static Public Attributes inherited from SensorBase | |
static const uint32_t | kSystemClockTicksPerMicrosecond = 40 |
static const uint32_t | kDigitalChannels = 14 |
static const uint32_t | kAnalogChannels = 8 |
static const uint32_t | kAnalogModules = 2 |
static const uint32_t | kDigitalModules = 2 |
static const uint32_t | kSolenoidChannels = 8 |
static const uint32_t | kSolenoidModules = 2 |
static const uint32_t | kPwmChannels = 10 |
static const uint32_t | kRelayChannels = 8 |
static const uint32_t | kChassisSlots = 8 |
Protected Member Functions inherited from SensorBase | |
void | AddToSingletonList () |
Protected Member Functions inherited from ErrorBase | |
ErrorBase () | |
Initialize the instance status to 0 for now. | |
Protected Attributes inherited from ErrorBase | |
Error | m_error |
Static Protected Attributes inherited from ErrorBase | |
static SEM_ID | _globalErrorMutex = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE) |
static Error | _globalError |
Ultrasonic rangefinder class. The Ultrasonic rangefinder measures absolute distance based on the round-trip time of a ping generated by the controller. These sensors use two transducers, a speaker and a microphone both tuned to the ultrasonic range. A common ultrasonic sensor, the Daventech SRF04 requires a short pulse to be generated on a digital channel. This causes the chirp to be emmitted. A second line becomes high as the ping is transmitted and goes low when the echo is received. The time that the line is high determines the round trip distance (time of flight).
Definition at line 29 of file Ultrasonic.h.
Ultrasonic::Ultrasonic | ( | DigitalOutput * | pingChannel, |
DigitalInput * | echoChannel, | ||
DistanceUnit | units = kInches |
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) |
Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo channel and a DigitalOutput for the ping channel.
pingChannel | The digital output object that starts the sensor doing a ping. Requires a 10uS pulse to start. |
echoChannel | The digital input object that times the return pulse to determine the range. |
units | The units returned in either kInches or kMilliMeters |
Definition at line 110 of file Ultrasonic.cpp.
Ultrasonic::Ultrasonic | ( | DigitalOutput & | pingChannel, |
DigitalInput & | echoChannel, | ||
DistanceUnit | units = kInches |
||
) |
Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo channel and a DigitalOutput for the ping channel.
pingChannel | The digital output object that starts the sensor doing a ping. Requires a 10uS pulse to start. |
echoChannel | The digital input object that times the return pulse to determine the range. |
units | The units returned in either kInches or kMilliMeters |
Definition at line 131 of file Ultrasonic.cpp.
Ultrasonic::Ultrasonic | ( | uint32_t | pingChannel, |
uint32_t | echoChannel, | ||
DistanceUnit | units = kInches |
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) |
Create an instance of the Ultrasonic Sensor using the default module. This is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors. This constructor assumes that both digital I/O channels are in the default digital module.
pingChannel | The digital output channel that sends the pulse to initiate the sensor sending the ping. |
echoChannel | The digital input channel that receives the echo. The length of time that the echo is high represents the round trip time of the ping, and the distance. |
units | The units returned in either kInches or kMilliMeters |
Definition at line 94 of file Ultrasonic.cpp.
Ultrasonic::Ultrasonic | ( | uint8_t | pingModuleNumber, |
uint32_t | pingChannel, | ||
uint8_t | echoModuleNumber, | ||
uint32_t | echoChannel, | ||
DistanceUnit | units = kInches |
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) |
Create an instance of the Ultrasonic sensor using specified modules. This is designed to supchannel the Daventech SRF04 and Vex ultrasonic sensors. This constructors takes the channel and module slot for each of the required digital I/O channels.
pingModuleNumber | The digital module that the pingChannel is on. |
pingChannel | The digital output channel that sends the pulse to initiate the sensor sending the ping. |
echoModuleNumber | The digital module that the echoChannel is on. |
echoChannel | The digital input channel that receives the echo. The length of time that the echo is high represents the round trip time of the ping, and the distance. |
units | The units returned in either kInches or kMilliMeters |
Definition at line 152 of file Ultrasonic.cpp.
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virtual |
Destructor for the ultrasonic sensor. Delete the instance of the ultrasonic sensor by freeing the allocated digital channels. If the system was in automatic mode (round robin), then it is stopped, then started again after this sensor is removed (provided this wasn't the last sensor).
Definition at line 168 of file Ultrasonic.cpp.
Ultrasonic::DistanceUnit Ultrasonic::GetDistanceUnits | ( | ) |
Get the current DistanceUnit that is used for the PIDSource base object.
Definition at line 330 of file Ultrasonic.cpp.
double Ultrasonic::GetRangeInches | ( | ) |
Get the range in inches from the ultrasonic sensor.
Definition at line 279 of file Ultrasonic.cpp.
double Ultrasonic::GetRangeMM | ( | ) |
Get the range in millimeters from the ultrasonic sensor.
Definition at line 292 of file Ultrasonic.cpp.
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Implements Sendable.
Definition at line 349 of file Ultrasonic.cpp.
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virtual |
Implements Sendable.
Definition at line 358 of file Ultrasonic.cpp.
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Initializes a table for this sendable object.
subtable | The table to put the values in. |
Implements Sendable.
Definition at line 353 of file Ultrasonic.cpp.
bool Ultrasonic::IsRangeValid | ( | ) |
Check if there is a valid range measurement. The ranges are accumulated in a counter that will increment on each edge of the echo (return) signal. If the count is not at least 2, then the range has not yet been measured, and is invalid.
Definition at line 269 of file Ultrasonic.cpp.
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virtual |
Get the range in the current DistanceUnit for the PIDSource base object.
Implements PIDSource.
Definition at line 302 of file Ultrasonic.cpp.
void Ultrasonic::Ping | ( | ) |
Single ping to ultrasonic sensor. Send out a single ping to the ultrasonic sensor. This only works if automatic (round robin) mode is disabled. A single ping is sent out, and the counter should count the semi-period when it comes in. The counter is reset to make the current value invalid.
Definition at line 255 of file Ultrasonic.cpp.
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static |
Turn Automatic mode on/off. When in Automatic mode, all sensors will fire in round robin, waiting a set time between each sensor.
enabling | Set to true if round robin scheduling should start for all the ultrasonic sensors. This scheduling method assures that the sensors are non-interfering because no two sensors fire at the same time. If another scheduling algorithm is preffered, it can be implemented by pinging the sensors manually and waiting for the results to come back. |
Definition at line 216 of file Ultrasonic.cpp.
void Ultrasonic::SetDistanceUnits | ( | DistanceUnit | units | ) |
Set the current DistanceUnit that should be used for the PIDSource base object.
units | The DistanceUnit that should be used. |
Definition at line 320 of file Ultrasonic.cpp.
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virtual |
Start having this sendable object automatically respond to value changes reflect the value on the table.
Implements LiveWindowSendable.
Definition at line 341 of file Ultrasonic.cpp.
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virtual |
Stop having this sendable object automatically respond to value changes.
Implements LiveWindowSendable.
Definition at line 345 of file Ultrasonic.cpp.
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Update the table for this sendable object with the latest values.
Implements LiveWindowSendable.
Definition at line 335 of file Ultrasonic.cpp.