Range Finder

Introduction

The sonar class is used to measures distances and detects objects in front with the Range Finder.

Class Constructor

sonar(
  triport::port &port);

Class Destructor

Destroys the sonar object and releases associated resources.

virtual ~sonar();

Parameters

Parameter	Type	Description
port	triport::port &	The first 3-Wire Port of a required two-port group used by the Range Finder. The Range Finder occupies two adjacent ports (A–B, C–D, E–F, or G–H) on either the Brain or a 3-Wire Expander. Specify the first port in the pair (A, C, E, or G), written as Brain.ThreeWirePort.X or ExpanderName.X where X is the port letter (for example, Brain.ThreeWirePort.A or Expander1.C).

Examples

// Create a sonar instance in Ports A and B
sonar RangeFinderA = sonar(Brain.ThreeWirePort.A);

Member Functions

The sonar class includes the following member functions:

• foundObject — Returns whether an object is detected by the Range Finder.

• distance — Returns the distance of a detected object from the Range Finder.

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

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

// Create a sonar instance in Ports A and B
sonar RangeFinderA = sonar(Brain.ThreeWirePort.A);

foundObject

Returns a Boolean indicating if an object is found by the Range Finder.

Available Functions

bool foundObject();

Parameters

This function does not accept any parameters.

Return Values

Returns a bool representing if an object is detected:

• true — An object is found.

• false — An object is not found.

Examples

// Check if an object is detected.
if (RangeFinderA.foundObject()){
    // Print to screen on the brain that an object was found.
    Brain.Screen.print("object found");
}

distance

Returns the current distance the Range Finder is detecting an object at.

Available Functions

double distance( 
  distanceUnits units );

Parameters

Parameters	Type	Description
units	distanceUnits	The unit that represents the distance: inches mm — millimeters

Return Values

Returns a double representing the distance in the specified units.

Examples

// Get the Range Finder distance in millimeters.
double value = RangeFinderA.distance(mm);

// Print the current distance detected by the Range Finder to the
// Brain's screen.
Brain.Screen.print(value);