#include <Ultrasonic_ros.h>
Public Member Functions | |
| UltrasonicROS (ros::NodeHandle *nh, VMXPi *pi, uint8_t channelout, uint8_t channelin) | |
| Constructs the UltrasonicROS object without specifying the digital input and output channel indexes. More... | |
| ~UltrasonicROS () | |
| Destructor for the UltrasonicROS object. More... | |
| double | GetDistanceCM (uint32_t diff) |
| Converts microsecond distance from GetRawValue() to centimeters. More... | |
| double | GetDistanceIN (uint32_t diff) |
| Converts microsecond distance from GetRawValue() to inches. More... | |
| uint32_t | GetRawValue () |
| Calculates the raw microsecond difference between the time an ultrasonic wave is emitted and received as the wave is reflected back from the target. This directly corresponds to the distance (in microseconds) measured from the sensor to the target. More... | |
| void | Ultrasonic () |
| Creates a thread to continuously emit ultrasonic waves for a default duration of 10µs. More... | |
| void | Ultrasonic_t () |
| Initiates a timed ultrasonic pulse on a DigitalIO Resource in Digital Output Mode in 0.1 second intervals. More... | |
| void | Run_t () |
| Provides a method to call the various Publishers of the UltrasonicROS library, advertising distance data in microseconds, inches and centimeters to the ROS Master node. More... | |
 Public Member Functions inherited from Utils | |
| void | DisplayVMXError (VMXErrorCode vmxerr) |
| Displays the VMXError. More... | |
Constructor & Destructor Documentation
◆ UltrasonicROS()
| UltrasonicROS::UltrasonicROS | ( | ros::NodeHandle * | nh, |
| VMXPi * | pi, | ||
| uint8_t | channelout, | ||
| uint8_t | channelin | ||
| ) |
Constructs the UltrasonicROS object without specifying the digital input and output channel indexes.
NOTE: The valid digital pairs for Trigger and Echo pins are (Trigger, Echo): (0,1), (2,3), (4,5), (6,7), (8, 9), (10,11).
- Parameters
-
nh Internal reference to the ROS node that the program will use to interact with the ROS system. pi VMX-pi parameter used to initialize the VMX-pi HAL. channelout Output channel index. channelin Input channel index.
◆ ~UltrasonicROS()
| UltrasonicROS::~UltrasonicROS | ( | ) |
Destructor for the UltrasonicROS object.
Member Function Documentation
◆ GetDistanceCM()
| double UltrasonicROS::GetDistanceCM | ( | uint32_t | diff | ) |
Converts microsecond distance from GetRawValue() to centimeters.
- Parameters
-
diff Raw microsecond difference between the time an ultrasonic wave is emitted and received as the wave is reflected back from the target. This directly corresponds to the distance (in microseconds) measured from the sensor to the target.
- Returns
- Distance in centimeters.
◆ GetDistanceIN()
| double UltrasonicROS::GetDistanceIN | ( | uint32_t | diff | ) |
Converts microsecond distance from GetRawValue() to inches.
- Parameters
-
diff Raw microsecond difference between the time an ultrasonic wave is emitted and received as the wave is reflected back from the target. This directly corresponds to the distance (in microseconds) measured from the sensor to the target.
- Returns
- Distance in inches.
◆ GetRawValue()
| uint32_t UltrasonicROS::GetRawValue | ( | ) |
Calculates the raw microsecond difference between the time an ultrasonic wave is emitted and received as the wave is reflected back from the target. This directly corresponds to the distance (in microseconds) measured from the sensor to the target.
- Returns
- Distance in microseconds.
◆ Run_t()
| void UltrasonicROS::Run_t | ( | ) |
Provides a method to call the various Publishers of the UltrasonicROS library, advertising distance data in microseconds, inches and centimeters to the ROS Master node.
NOTE: Because the Trigger and Echo pins can vary, the topics are: "channel/input-channel/ultrasonic/dist/inch", "channel/input-channel/ultrasonic/dist/cm", "channel/input-channel/ultrasonic/dist/raw".
◆ Ultrasonic()
| void UltrasonicROS::Ultrasonic | ( | ) |
Creates a thread to continuously emit ultrasonic waves for a default duration of 10µs.
◆ Ultrasonic_t()
| void UltrasonicROS::Ultrasonic_t | ( | ) |
Initiates a timed ultrasonic pulse on a DigitalIO Resource in Digital Output Mode in 0.1 second intervals.
The documentation for this class was generated from the following files:
- C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_sensors/vmxpi_ros_ultrasonic/include/Ultrasonic_ros.h
- C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_sensors/vmxpi_ros_ultrasonic/src/Ultrasonic_ros.cpp
