距离传感器#

介绍#

The distance class is used to control and access data from a Distance Sensor.

距离传感器可以检测物体是否位于传感器前方，并返回物体与传感器之间的距离。它还可以返回被检测物体的相对速度，并估计物体的大小（小、中、大）。

距离传感器的工作范围为 20 毫米至 2000 毫米。

小于 200 毫米时，精度约为 ±15 毫米；大于 200 毫米时，精度可提高至约 5%。

该距离传感器采用1级激光。探测方向为正前方，对教室环境安全。

类构造函数#

distance( int32_t  index );

类析构函数#

Destroys the distance object and releases associated resources.

~distance();

参数#

范围

类型

描述

index

int32_t

The Smart Port that the Distance Sensor is connected to, written as PORTx, where x is the port number (for example, PORT1).

示例#

// Create a Distance Sensor instance in Port 1
distance Distance1 = distance(PORT1);

成员功能#

The distance class includes the following member functions:

  • objectDistance — Returns the distance between the Distance Sensor and the nearest detected object.

  • objectSize — Returns the estimated size of the detected object.

  • objectVelocity — Returns how quickly the detected object is moving toward or away from the Distance Sensor.

  • isObjectDetected — Returns whether the Distance Sensor currently detects an object.

  • changed — Registers a callback function that runs when the detected distance value changes.

  • installed — Returns whether the Distance Sensor is installed and connected.

Before calling any distance member functions, a distance instance must be created, as shown below:

/* This constructor is required when using VS Code.
Distance Sensor configuration is generated automatically
in VEXcode using the Device Menu. Replace the values
as needed. */

// Create a Distance Sensor instance in Port 1
distance Distance1 = distance(PORT1);

objectDistance#

返回距离传感器与最近检测到的物体之间的距离。

Available Functions 
double objectDistance( distanceUnits units );
Parameters

范围

类型

描述

units

distanceUnits

The distance unit:

  • mm - millimeters (20 mm to 2000 mm)
  • cm - centimeters (2 cm to 200 cm)
  • inches - inches (0.78 inches to 78.74 inches)
Return Values

Returns a double representing the distance between the Distance Sensor and the nearest detected object in the specified units.

objectSize#

返回距离传感器检测到的物体的估计尺寸。

距离传感器根据被检测到的物体在传感器视野中所占的比例来估计物体的大小。

Available Functions 
sizeType objectSize();
Parameters

此函数不接受任何参数。

Return Values

Returns a sizeType indicating the estimated size of the detected object:

  • none — No object is detected.
  • small — A small object is detected.
  • medium — A medium object is detected.
  • large — A large object is detected.

objectVelocity#

返回检测到的物体的相对速度。

速度表示物体相对于距离传感器移动或远离的快慢。接近 0 的值表示物体相对于传感器移动的幅度很小。

Available Functions 
double objectVelocity();
Parameters

此函数不接受任何参数。

Return Values

Returns a double representing the relative velocity of the detected object in m/s (meters per second).

isObjectDetected#

返回距离传感器当前是否检测到物体。

Available Functions 
bool isObjectDetected();
Parameters

此函数不接受任何参数。

Return Values

返回一个布尔值，指示距离传感器是否检测到物体：

  • true — The Distance Sensor detects an object.
  • false — The Distance Sensor does not detect an object.

changed#

注册一个回调函数，当检测到的距离值发生变化时运行该函数。

Available Functions 
void changed( void (* callback)(void) );
Parameters

范围

类型

描述

callback

void (*)(void)

A pointer to a function that will be called when the detected distance value changes. The function must take no parameters and return void.
Return Values

此函数不返回值。

installed#

返回距离传感器是否已安装并连接。

Available Functions 
bool installed();
Parameters

此函数不接受任何参数。

Return Values

返回一个布尔值，指示距离传感器是否已安装并连接：

  • true — The Distance Sensor is installed and connected.
  • false — The Distance Sensor is not installed or not connected.
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