NXT C++ Bluetooth Library
Class Sonar
Sensor
|
+--I2c
|
+--Sonar
in sonar.h
in sonar.cpp
- class Sonar
- extends I2c
Class for the NXT sonar (ultrasonic) sensor
| Fields inherited from class I2c |
wait_time, bytes_ready, i2c_address |
| Fields inherited from class Sensor |
has_init, connection, sensor_type, sensor_mode, sensor_port, raw_AD_value, normalized_AD_value, scaled_value, calibrated_value |
|
Method Summary |
Sensor_type |
get_type()
Get the sensor type |
void |
init( bool reply = false )
Initiate the sensor |
std::string |
print()
Get the sensor reading as a string
(init method will be called if the sensor has not been initialized) |
int |
read()
Read the sensor value
(init method will be called if the sensor has not been initialized) |
void |
set( unsigned int value )
Set the return value to be either inch or centimeter |
| Methods inherited from class Sensor |
init, read, read, print, set, get_port, get_mode, set_type_and_mode, get_sensor_value, read_mode, read_raw, read_normalized, get_type, reset, get_i2c_address |
Sonar
public Sonar( Sensor_port port, Connection* connection, Sonar_mode mode = METRIC );
- Constructor for the sonar sensor (percent mode and LED on is default)
- Parameters:
port - [which sensor port to use]
*connection - [attach a connection]
mode - [set the sonar mode to either METRIC or INCH (default is METRIC)]
~Sonar
public ~Sonar();
get_type
public Sensor_type get_type();
- Get the sensor type
- Returns:
- either SONAR_METRIC or SONAR_INCH
init
public void init( bool reply = false );
- Initiate the sensor
- Parameters:
reply - [true = require reply from NXT; false = no reply from NXT]
print
public std::string print();
- Get the sensor reading as a string
(init method will be called if the sensor has not been initialized)
- Returns:
- sensor reading as a string + either " CM" or " inch(s)"
read
public int read();
- Read the sensor value
(init method will be called if the sensor has not been initialized)
- Returns:
- the sensor reading in either inches or centimeters
set
public void set( unsigned int value );
- Set the return value to be either inch or centimeter
- Parameters:
value - [use either METRIC or INCH to indicate the return value of read()]- See Also:
Sonar_mode