Sonar

Initializing the Sonar Class

A Range Finder is created by using the following constructor:

Sonar(port)

This constructor uses one parameter:

Parameter	Description
port	The 3-Wire Port “pair” that the Range Finder is connected to, whether it’s a port on the Brain, or a 3-Wire Expander. Note: A Range Finder uses two adjacent 3-Wire ports. These pairs are a/b, c/d, e/f, and g/h. When entering the pair as an argument, use the first letter of the pair, ie: brain.three_wire_port.a refers to the a/b pair.

A Brain or 3-Wire Expander must be created first before they can be used to create an object with the Sonar Class constructor.

# Create the Brain.
brain = Brain()
# Construct a Sonar "sonar" with the
# Sonar class.
sonar = Sonar(brain.three_wire_port.a)

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

Class Methods

distance()

The distance(units) method returns the current distance the Range Finder is detecting on object at. The Range Finder will return a large positive number if no object is detected in range.

Parameters	Description
units	A valid DistanceUnits type.

Returns: The distance measured by the Range Finder.

# Print the current distance detected by the Range Finder
# to the Brain's screen.
brain.screen.print(sonar.distance(MM))

found_object()

The found_object() method checks if an object is detected by the Range Finder in the range 0 - 1000 millimeters. The Range Finder will return True if an object is detected closer than 1000mm.

Returns: True if an object is detected by the Range Finder. False if one is not.

# Check if an object is 1000mm or closer to the Range Finder.
if sonar.found_object():
    # Print to the Brain's screen that an object was found
    brain.screen.print("object found")