User manual

packets to PC central controller */

Return value: void

Remarks:

The default PeriodTime = 50 (ms), i.e. update rate is 20Hz. PeriodTime should be bigger

than 50 (ms), i.e. the system data fastest refresh rate is 20Hz.

See Also: SystemMotorSensorRequest, SystemStandardSensorRequest,

SystemCustomSensorRequest, SystemAllSensorRequest.

III.1.2 Range and Distance Sensors

17 short GetSensorSonar1 ();

18 short GetSensorSonar2 ();

19 short GetSensorSonar3 ();

20 short GetSensorSonar4 ();

21 short GetSensorSonar5 ();

22 short GetSensorSonar6 ();

23 short GetSensorSonar (short channel);

Description:

GetSonarSensorX returns the current distance value between the relevant ultrasonic

range sensor module (DUR5200) and the object in front of it. The unit is cm.

Syntax: ival = GetSensorSonar1 (); // Sonar #1

ival = GetSensorSonar2 (); // Sonar #2

ival = GetSensorSonar3 (); // Sonar #3

ival = GetSensorSonar4 (); // Sonar #4

ival = GetSensorSonar5 (); // Sonar #5

ival = GetSensorSonar6 (); // Sonar #6

ival = GetSensorSonar (short channel); // Sonar #1, 2, 3, 4, 5, or 6

Parameter: void

short channel; // 0, 1, 2, 3, 4, or 5 for Sonar #1, 2, 3, 4, 5, 6

Return value: short ival;

Return data interpretation:

Table III.2 Meanings of PacketNumber

Return Value Distance to Object

4 0 to 4 cm

4 to 254 4 to 254 cm