distance

Initializing the distance Class

A Distance Sensor is created by using the following constructor:

The distance constructor creates an object of the distance Class in the specified port.

Parameter	Description
port	A valid Smart Port that the Distance Sensor is connected to.

// Construct a Distance Sensor "Distance" with the
// distance class.
distance Distance1 = distance(PORT1);

This Distance1 object will be used in all subsequent examples throughout this API documentation when referring to distance class methods.

Class Methods

objectDistance()

The objectDistance(units) method returns the distance the Distance Sensor is currently reading. The Distance Sensor will return a large positive number if no object is detected.

Parameters	Description
units	A valid DistanceUnit.

Returns: A double representing the distance to the detected object in the specified units.

// Get the distance detected by the Distance Sensor in inches.
double value = Distance1.objectDistance(inches);

objectSize()

The objectSize() method returns an estimate of the size of the detected object.

Returns: A SizeType representing the estimated size of the detected object.

// Get the object size detected by the Distance Sensor.
sizeType size = Distance1.objectSize();

objectVelocity()

The objectVelocity() method returns the velocity of the detected object. The velocity is calculated by the change in distance over the change in time.

Returns: A double representing velocity of the detected object in meters per second.

isObjectDetected()

The isObjectDetected() method returns if an object is detected.

Returns: true if an object is detected. false if an object is not detected.

changed()

The changed(callback) method registers a callback function for when the detected object changes.

Parameters	Description
callback	A function that will be called when the detected object changes.

Returns: None.

// Define the distanceChanged function with a void return
// type, showing it doesn't return a value.
void distanceChanged() {
  // The Brain will print that the distance changed on the
  // Brain's screen.
  Brain.Screen.print("distance changed");
}

int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  // Drive the robot forward.
  Drivetrain.drive(forward);

  // Run distanceChanged when the value of the distance 
  // detected by the Distance Sensor changes.
  Distance1.changed(distanceChanged);
}

objectRawSize()

The objectRawSize() method returns the raw value of object size the Distance Sensor is detecting.

Returns: A 32 bit signed integer representing the raw size of the detected object.

// Get the raw size of the object detected by the distance sensor.
int32_t size = Distance1.objectRawSize();

timestamp()

The timestamp() method requests the timestamp of the last received status packet from the Distance Sensor.

Returns: Timestamp of the last status packet as an unsigned 32-bit integer in milliseconds.

installed()

The installed() method returns if the Distance Sensor is connected.

Returns: true if the Distance Sensor is connected. false if it is not.