Sonar class that represents an ultrasonic sensor mounted on a robot. More...
Data Fields | |
| int | sensorPort |
| Vector | sensorLocation |
| int | sensorOffset |
| int | sensorCutOffMin |
| int | sensorCutOffMax |
| int | toleranceAngle |
| long | toleranceDistance |
| int | sensorMotor |
| int | gearRatio |
| int | sensorMinAngle |
| int | sensorMaxAngle |
| int | motorMovePower |
| int | motorScanPower |
| int | currentViewAngle |
| long | neutralTachoCount |
| PIDControl | pidControl |
Detailed Description
Sonar class that represents an ultrasonic sensor mounted on a robot.
Field Documentation
| int Sonar::currentViewAngle |
Current View angle of the sonar
Definition at line 62 of file Sonar.nxc.
Referenced by SonarFindObject(), SonarFindObjectAtAngleRelative(), SonarFindObjectRelative(), SonarGetCurrentViewAngle(), SonarInit(), and SonarSweep().
| int Sonar::gearRatio |
Output (sonar rotation) to Input (tacho counts) gear ratio scaled by 100
Definition at line 55 of file Sonar.nxc.
Referenced by SonarFindObjectAtAngleRelative(), SonarInit(), and SonarSweep().
| int Sonar::motorMovePower |
Power for rotating the motor during positioning: 0 - 100
Definition at line 58 of file Sonar.nxc.
Referenced by SonarFindObjectAtAngleRelative(), SonarInit(), and SonarSweep().
| int Sonar::motorScanPower |
Power for rotating the motor during scaning: 0 - 100
Definition at line 59 of file Sonar.nxc.
Referenced by SonarInit(), and SonarSweep().
| long Sonar::neutralTachoCount |
Tacho count of the motor at neutral state
Definition at line 63 of file Sonar.nxc.
Referenced by SonarInit().
| PIDControl Sonar::pidControl |
PID controller used for sensor motor positioning
Definition at line 64 of file Sonar.nxc.
Referenced by SonarInit(), and SonarSweep().
| int Sonar::sensorCutOffMax |
Cut off distance below which object is not detected
Definition at line 49 of file Sonar.nxc.
Referenced by SonarFindObject(), SonarFindObjectRelative(), SonarInit(), and SonarSweep().
| int Sonar::sensorCutOffMin |
Cut off distance beyond which object is not detected
Definition at line 48 of file Sonar.nxc.
Referenced by SonarFindObject(), SonarInit(), and SonarSweep().
| Vector Sonar::sensorLocation |
Location of sensor mount with respect to robot reference
Definition at line 44 of file Sonar.nxc.
Referenced by SonarFindObject(), SonarFindObjectAtAngle(), SonarFindObjectAtLocation(), SonarFindObjectRelative(), SonarGetCurrentViewAngle(), SonarGetMaxViewAngle(), SonarGetMinViewAngle(), SonarGetPosition(), SonarInit(), and SonarTriangulateLandmarks().
| int Sonar::sensorMaxAngle |
Maximum sensor motor angle to rotate
Definition at line 57 of file Sonar.nxc.
Referenced by SonarFindObjectAtAngle(), SonarFindObjectAtAngleRelative(), SonarGetMaxViewAngle(), SonarGetObjectDistanceAtAngle(), and SonarInit().
| int Sonar::sensorMinAngle |
Minimum sensor motor angle to rotate
Definition at line 56 of file Sonar.nxc.
Referenced by SonarFindObjectAtAngle(), SonarFindObjectAtAngleRelative(), SonarGetMinViewAngle(), SonarGetObjectDistanceAtAngle(), and SonarInit().
| int Sonar::sensorMotor |
Motor that controls sensor's rotation
Definition at line 54 of file Sonar.nxc.
Referenced by SonarFindObjectAtAngleRelative(), SonarInit(), and SonarSweep().
| int Sonar::sensorOffset |
Offset of sensor 'zero reading' from the mount point (in mm)
Definition at line 45 of file Sonar.nxc.
Referenced by SonarFindObject(), SonarFindObjectRelative(), SonarInit(), and SonarSweep().
| int Sonar::sensorPort |
Port where ultrasonic sensor is mounted
Definition at line 43 of file Sonar.nxc.
Referenced by SonarFindObject(), SonarFindObjectRelative(), SonarInit(), and SonarSweep().
| int Sonar::toleranceAngle |
When finding an object, +/- angle around which object is considered found
Definition at line 50 of file Sonar.nxc.
Referenced by SonarFindObjectAtAngle(), SonarGetObjectDistanceAtAngle(), and SonarInit().
| long Sonar::toleranceDistance |
When finding an object, +/- distance around which object is considered found
Definition at line 51 of file Sonar.nxc.
Referenced by SonarFindObjectAtLocation(), and SonarInit().
The documentation for this struct was generated from the following file: