SharpROS Class Reference
#include <Sharp_ros.h>
Inheritance diagram for SharpROS:
Public Member Functions | |
| SharpROS (ros::NodeHandle *nh, VMXPi *vmx) | |
| Constructs the SharpROS object without specifying the analog channel. The default channel input is set to the first analog channel. More... | |
| SharpROS (ros::NodeHandle *nh, VMXPi *vmx, uint8_t channel) | |
| Constructs the SharpROS object using the specified parameters. More... | |
| ~SharpROS () | |
| Destructor for the SharpROS object. More... | |
| double | GetIRDistance () |
| Accesses the average voltage data and converts this into a distance output in cm. More... | |
| double | GetRawVoltage () |
| Returns the current averaged voltage value (in Volts) from the VMX Analog Accumulator Resource. More... | |
| void | Run_t () |
| Provides a method to call the various Publishers of the SharpROS library advertising sensor data to the ROS Master node. More... | |
 Public Member Functions inherited from Utils | |
| void | DisplayVMXError (VMXErrorCode vmxerr) |
| Displays the VMXError. More... | |
Constructor & Destructor Documentation
◆ SharpROS() [1/2]
| SharpROS::SharpROS | ( | ros::NodeHandle * | nh, |
| VMXPi * | vmx | ||
| ) |
Constructs the SharpROS object without specifying the analog channel. The default channel input is set to the first analog channel.
- Parameters
-
nh Internal reference to the ROS node that the program will use to interact with the ROS system. vmx VMX-pi parameter used to initialize the VMX-pi HAL.
◆ SharpROS() [2/2]
| SharpROS::SharpROS | ( | ros::NodeHandle * | nh, |
| VMXPi * | vmx, | ||
| uint8_t | channel | ||
| ) |
Constructs the SharpROS object using the specified parameters.
- Parameters
-
nh Internal reference to the ROS node that the program will use to interact with the ROS system. vmx VMX-pi parameter used to initialize the VMX-pi HAL. channel Parameter to specify the analog input channels.
NOTE: The valid analog channels range from 22-25.
◆ ~SharpROS()
| SharpROS::~SharpROS | ( | ) |
Destructor for the SharpROS object.
Member Function Documentation
◆ GetIRDistance()
| double SharpROS::GetIRDistance | ( | ) |
Accesses the average voltage data and converts this into a distance output in cm.
- Returns
- Outputs the range in cm.
◆ GetRawVoltage()
| double SharpROS::GetRawVoltage | ( | ) |
Returns the current averaged voltage value (in Volts) from the VMX Analog Accumulator Resource.
- Returns
- Average raw voltage readings.
◆ Run_t()
| void SharpROS::Run_t | ( | ) |
Provides a method to call the various Publishers of the SharpROS library advertising sensor data to the ROS Master node.
The documentation for this class was generated from the following files:
- C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_sensors/vmxpi_ros_sharp/include/Sharp_ros.h
- C:/Users/adeya/CLionProjects/ros-dev/vmxpi_ros_sensors/vmxpi_ros_sharp/src/Sharp_ros.cpp
