---

sonar_base Class Reference

A class to locate a sonar on a robot. More...

#include <sonar_base.h>

Inheritance diagram for sonar_base:

Public Member Functions
	sonar_base (short dfc, DEGREE forward, DEGREE rotate, IOLINE c, PORT p, IOLINE tpu, uint8 subclass=0)
short	value (void)
	Overrides the call to the sonarDV::value method providing an emulated value from simulator.
void	WSwrite (void)
	Write object to shared memory.
void	scanner (oServo *s)
	Provide a servo for a scanner type sensor mount.
bool	scanner (void)
	Returns wether base is a scanner type or fixed.
void	angle (DEGREE d)
	Sets the angle that the base is facing relative to _face; i.e., if mounted 20 degrees from center, then 0 is 20 degrees from center. If defined with a servo, then will turn the base to that direction.
DEGREE	angle (void)
	return angle at which scanner is pointed relative to local center (_face).
FIXED_RADIAN	bearing (void)
	Returns current facing of sensor taking into account scanner rotation (FIXED).
int	maximum_sensor_range (void)
	Returns the maximum sensor range in millimetres.
void	maximum_sensor_range (int msr)
	Set the maximum range of the sensor.
bool	locked (void)
	Returns whether the sensor is locked.
void	locked (bool l)
Data Fields
int	_DFC
	Distance from center of platform (MILLIMETERS).
FIXED_RADIAN	F_face
	where the IR is facing 0 is forward + is counterclock-wise.
FIXED_RADIAN	F_orient
	Position (radians) around the robot from defined center position (0=forward).
Protected Attributes
oServo *	_servo
FIXED_RADIAN	F_bearing
int	_maximum_sensor_range
bool	_locked

---

Detailed Description

A class to locate a sonar on a robot.

---

Constructor & Destructor Documentation

sonar_base (  short  dfc, DEGREE  forward, DEGREE  rotate, IOLINE  c, PORT  p, IOLINE  tpu, uint8  subclass = 0 )

Parameters: dfc  IR distance from center of vehicle. forward  facing direction (0 is robot's forward; counterclockwise) rotate  how many degrees you must rotate around vehicle center to locate sensor. c  Channel for the pulse trigger input. p  Port for the pulse trigger input. (TPU not supported) tpu  Channel for the echo output on the TPU port. subclass  0 for base class (system param. do not use.).

---

Member Function Documentation

DEGREE angle (  void   )  [inherited]

return angle at which scanner is pointed relative to local center (_face).

void angle (  DEGREE  d  )  [inherited]

Sets the angle that the base is facing relative to _face; i.e., if mounted 20 degrees from center, then 0 is 20 degrees from center. If defined with a servo, then will turn the base to that direction.

FIXED_RADIAN bearing (  void   )  [inherited]

Returns current facing of sensor taking into account scanner rotation (FIXED). bearing is Absolute direction of sensor with respect to robot's forward as 0 degrees; it incorporates the facing of sensor. To get the bearing with respect to the world system, you must add the robot's current heading; i.e., bearing() + angle()

void locked (  bool  l  )  [inherited]

bool locked (  void   )  [inherited]

Returns whether the sensor is locked. This is a locking mechanism if you wish to allocate a sensor for a private use and cannot be allocated by another call to Object_List::bearing until it is unlocked.

void maximum_sensor_range (  int  msr  )  [inherited]

Set the maximum range of the sensor.

int maximum_sensor_range (  void   )  [inherited]

Returns the maximum sensor range in millimetres. maximum sensor_range declared below so it can be initialized low level, but returns a low level so a generic <sensor_base*> can access maximum sensor range without knowing its type.

bool scanner (  void   )  [inherited]

Returns wether base is a scanner type or fixed.

void scanner (  oServo *  s  )  [inherited]

Provide a servo for a scanner type sensor mount.

short value (  void   )

Overrides the call to the sonarDV::value method providing an emulated value from simulator. Reimplemented from sensor_base.

void WSwrite (  void   )

Write object to shared memory.

---

Field Documentation

int _DFC [inherited]

Distance from center of platform (MILLIMETERS).

bool _locked [protected, inherited]

int _maximum_sensor_range [protected, inherited]

oServo* _servo [protected, inherited]

FIXED_RADIAN F_bearing [protected, inherited]

FIXED_RADIAN F_face [inherited]

where the IR is facing 0 is forward + is counterclock-wise.

FIXED_RADIAN F_orient [inherited]

Position (radians) around the robot from defined center position (0=forward). To put it another way, this is where the sensor is mounted whereas face is which way IR beam is directed; no necessarily related.

---