Distance Sensor#

Introduction#

The distance class is used to control and access data from the V5 Distance Sensor. This sensor measures the distance between the sensor and nearby objects, allowing your robot to detect obstacles and determine proximity.

Class Constructors#

distance( int32_t  index );

Class Destructor#

Destroys the distance object and releases associated resources.

~distance();

Parameters#

Parameter

Type

Description

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).

Examples#

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

Member Actions#

The distance class includes the following member functions:

  • objectDistance — Returns the distance currently detected by the sensor.

  • objectSize — Returns an estimate of the detected object’s size.

  • objectVelocity — Returns the velocity of the detected object.

  • isObjectDetected — Returns whether an object is currently detected.

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

  • installed — Returns whether the sensor is installed.

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 instance in Port 1
distance Distance1 = distance(PORT1);

objectDistance#

Returns the distance currently detected by the Distance Sensor.

Available Functions 
double objectDistance( distanceUnits units );
Parameters

Parameter

Type

Description

units

distanceUnits

The unit of measurement for the returned distance value:

  • mm — millimeters
  • cm — centimeters
  • inches — inches
Return Values

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

objectSize#

Returns an estimate of the detected object’s size.

Available Functions 
sizeType objectSize();
Parameters

This function does not take any parameters.

Return Values

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

  • none — No object is detected.
  • small — The detected object is small.
  • medium — The detected object is medium in size.
  • large — The detected object is large.

objectVelocity#

Returns an estimate of the detected object’s velocity.

Available Functions 
double objectVelocity();
Parameters

This function does not take any parameters.

Return Values

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

isObjectDetected#

Returns whether an object is currently detected by the Distance Sensor.

Available Functions 
bool isObjectDetected();
Parameters

This function does not take any parameters.

Return Values

Returns a Boolean indicating whether an object is detected:

  • true — An object is detected.
  • false — No object is detected.

changed#

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

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

Parameter

Type

Description

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

This function does not return a value.

installed#

Returns whether the Distance Sensor is connected.

Available Functions 
bool installed();
Parameters

This function does not take any parameters.

Return Values

Returns a Boolean indicating whether the Distance Sensor is connected:

  • true — The sensor is connected and responding.
  • false — The sensor is not connected or not detected.
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