#include <distanceSensor.hpp>

Inheritance diagram for okapi::DistanceSensor:

Public Member Functions
	DistanceSensor (std::uint8_t iport, std::unique_ptr< Filter > ifilter=std::make_unique< PassthroughFilter >())
	A distance sensor on a V5 port.

virtual	~DistanceSensor ()=default

double	get ()
	Get the current filtered sensor value in mm.

double	controllerGet () override
	Get the sensor value for use in a control loop.

std::int32_t	getConfidence () const
	Get the confidence in the distance reading.

std::int32_t	getObjectSize () const
	Get the current guess at relative object size.

double	getObjectVelocity () const
	Get the object velocity in m/s.

Protected Attributes
std::uint8_t	port

std::unique_ptr< Filter >	filter

Detailed Description

Definition at line 14 of file distanceSensor.hpp.

Constructor & Destructor Documentation

◆ DistanceSensor()

okapi::DistanceSensor::DistanceSensor	(	std::uint8_t	iport,
		std::unique_ptr< Filter >	ifilter = `std::make_unique< PassthroughFilter >()`
	)

A distance sensor on a V5 port.

auto ds = DistanceSensor(1);

auto filteredDistSensor = DistanceSensor(1, std::make_unique<MedianFilter<5>>());

okapi::DistanceSensor

Definition distanceSensor.hpp:14

okapi::MedianFilter

A filter which returns the median value of list of values.

Definition medianFilter.hpp:21

Parameters

iport	The V5 port the device uses.
ifilter	The filter to use for filtering the distance measurements.

◆ ~DistanceSensor()

virtual okapi::DistanceSensor::~DistanceSensor ( )

virtualdefault

Member Function Documentation

◆ controllerGet()

double okapi::DistanceSensor::controllerGet ( )

overridevirtual

Get the sensor value for use in a control loop.

This method might be automatically called in another thread by the controller.

Returns: The same as get.

Implements okapi::ControllerInput< double >.

◆ get()

double okapi::DistanceSensor::get ( )

Get the current filtered sensor value in mm.

Returns: The current filtered sensor value in mm.

◆ getConfidence()

std::int32_t okapi::DistanceSensor::getConfidence ( ) const

Get the confidence in the distance reading.

This value has a range of [0, 63]. 63 means high confidence, lower values imply less confidence. Confidence is only available when distance is greater than 200 mm.

Returns: The confidence value in the range [0, 63].

◆ getObjectSize()

std::int32_t okapi::DistanceSensor::getObjectSize ( ) const

Get the current guess at relative object size.

This value has a range of [0, 400]. A 18" x 30" grey card will return a value of approximately 75 in typical room lighting.

Returns: The size value in the range [0, 400] or PROS_ERR if the operation failed, setting errno.

◆ getObjectVelocity()

double okapi::DistanceSensor::getObjectVelocity ( ) const

Get the object velocity in m/s.

Returns: The object velocity in m/s.

Member Data Documentation

◆ filter

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

protected

Definition at line 74 of file distanceSensor.hpp.

◆ port

std::uint8_t okapi::DistanceSensor::port