User manual

255 255 cm or longer

24 short GetSensorIRRange ();

Description:

GetSensorIRRange returns the current distance measurement value between the infrared

range sensor and the object in front of it.

Syntax: ival = GetSensorIRRange ();

Parameter: void

Return value: short ival;

Return data interpretation when using Sharp GP2Y0A21YK:

Table III.3 Return data interpretation

Return Value Distance to Object

<=585 80 cm or longer

585 to 3446 80 to 8 cm

>=3446 0 to 8 cm

Remarks:

The relationship between the return data and the distance is not linear. Please refer to the

sensor’s datasheet for distance-voltage curve. The data returned is the raw data of the

analog to digital converter. The output voltage of the sensor can be calculated from the

following equation:

Sensor output voltage = (ival) * 3.0 / 4095 (V)

(e.g. Sharp GP2Y0A21YK

“http://sharp-world.com/products/device/lineup/data/pdf/datasheet/gp2y0a_d_e.pdf”)

III.1.3 Human Sensors

25 short GetSensorHumanAlarm1 ();

26 short GetSensorHumanAlarm2 ();

Description:

GetSensorHumanAlarm returns the current human alarm data from DHM5150 Human

Motion Sensor Module. Please refer to the Chapter IV.VIII DHM5150 (Page 106) for

detailed information.