okapi::ADIUltrasonic Class Reference

#include <adiUltrasonic.hpp>

Inheritance diagram for okapi::ADIUltrasonic:

Public Member Functions
	ADIUltrasonic (std::uint8_t iportPing, std::uint8_t iportEcho, std::unique_ptr< Filter > ifilter=std::make_unique< PassthroughFilter >())
	An ultrasonic sensor in the ADI (3-wire) ports.
	ADIUltrasonic (std::tuple< std::uint8_t, std::uint8_t, std::uint8_t > iports, std::unique_ptr< Filter > ifilter=std::make_unique< PassthroughFilter >())
	An ultrasonic sensor in the ADI (3-wire) ports.
virtual	~ADIUltrasonic ()
virtual double	get ()
	Returns the current filtered sensor value.
virtual double	controllerGet () override
	Get the sensor value for use in a control loop.

Protected Attributes
pros::c::ext_adi_ultrasonic_t	ultra
std::unique_ptr< Filter >	filter

Detailed Description

Definition at line 14 of file adiUltrasonic.hpp.

Constructor & Destructor Documentation

ADIUltrasonic() [1/2]

okapi::ADIUltrasonic::ADIUltrasonic	(	std::uint8_t	iportPing,
		std::uint8_t	iportEcho,
		std::unique_ptr< Filter >	ifilter = std::make_unique< PassthroughFilter >()
	)

An ultrasonic sensor in the ADI (3-wire) ports.

auto ultra = ADIUltrasonic('A', 'B');
auto filteredUltra = ADIUltrasonic('A', 'B', std::make_unique<MedianFilter<5>>());

Parameters

iportPing	The port connected to the orange OUTPUT cable. This must be in port 1, 3, 5, or 7 (A, C, E, or G).
iportEcho	The port connected to the yellow INPUT cable. This must be in the next highest port following iportPing.
ifilter	The filter to use for filtering the distance measurements.

ADIUltrasonic() [2/2]

okapi::ADIUltrasonic::ADIUltrasonic	(	std::tuple< std::uint8_t, std::uint8_t, std::uint8_t >	iports,
		std::unique_ptr< Filter >	ifilter = std::make_unique< PassthroughFilter >()
	)

An ultrasonic sensor in the ADI (3-wire) ports.

auto ultra = ADIUltrasonic({1, 'A', 'B'});
auto filteredUltra = ADIUltrasonic({1, 'A', 'B'}, std::make_unique<MedianFilter<5>>());

Parameters

iports	The ports the ultrasonic is plugged in to in the order {smart port, ping port, echo port}. The smart port is the smart port number ([1, 21]). The ping port is the port connected to the orange OUTPUT cable. This must be in port 1, 3, 5, or 7 (A, C, E, or G). The echo port is the port connected to the yellow INPUT cable. This must be in the next highest port following the ping port.
ifilter	The filter to use for filtering the distance measurements.

~ADIUltrasonic()

virtual okapi::ADIUltrasonic::~ADIUltrasonic ( )

virtual

Member Function Documentation

controllerGet()

virtual double okapi::ADIUltrasonic::controllerGet ( )

overridevirtual

Get the sensor value for use in a control loop.

This method might be automatically called in another thread by the controller. Calls get().

Implements okapi::ControllerInput< double >.

get()

virtual double okapi::ADIUltrasonic::get ( )

virtual

Returns the current filtered sensor value.

Returns

current value

Member Data Documentation

filter

std::unique_ptr<Filter> okapi::ADIUltrasonic::filter

protected

Definition at line 69 of file adiUltrasonic.hpp.

ultra

pros::c::ext_adi_ultrasonic_t okapi::ADIUltrasonic::ultra

protected

Definition at line 68 of file adiUltrasonic.hpp.

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The documentation for this class was generated from the following file:

• include/okapi/impl/device/adiUltrasonic.hpp