com.ridgesoft.robotics.sensors
Class DevantechSRF08

java.lang.Object
  com.ridgesoft.robotics.SonarRangeFinder
      com.ridgesoft.robotics.sensors.DevantechSRF08

All Implemented Interfaces:

RangeFinder

public class DevantechSRF08
extends SonarRangeFinder

Class to interface with the Devantech SRF08 ultrasonic range finder.

Constructor Summary

DevantechSRF08(I2CMaster i2cMaster)
Constructs a DevantechSRF08 object using the default device address, 0xe0.

DevantechSRF08(I2CMaster i2cMaster, int deviceAddress)
Constructs a DevantechSRF08 object.

Method Summary

int[]	getEchoData() Gets the echo data array from the SRF08.
int	getEchoDelay() Gets the echo delay.
int	getSoftwareRevision() Gets the software revsion of the device's software.
void	ping() Generates a ping requesting ranging results in microseconds.
void	rangeCentimeters(boolean annMode) Generates a ping requesting ranging results in inches.
void	rangeInches(boolean annMode) Generates a ping requesting ranging results in inches.
void	rangeMicroseconds(boolean annMode) Generates a ping requesting ranging results in microseconds.
int	readLightSensor() Reads the light sensor on the SRF08.
static void	setDeviceAddress(I2CMaster i2cMaster, int initialAddress, int desiredAddress) Changes the I2C device address of the SRF08.
void	setGainRegister(int gain) Sets the gain register.
void	setRangeRegister(int range) Sets the range register.

Methods inherited from class com.ridgesoft.robotics.SonarRangeFinder

getDistanceCm, getDistanceInches

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait

Constructor Detail

DevantechSRF08

public DevantechSRF08(I2CMaster i2cMaster)

Constructs a DevantechSRF08 object using the default device address, 0xe0.

Parameters:

i2cMaster - I2C object for the bus the range finder connects to

DevantechSRF08

public DevantechSRF08(I2CMaster i2cMaster,
                      int deviceAddress)

Constructs a DevantechSRF08 object.

Parameters:

i2cMaster - I2C object for the bus the range finder connects to

deviceAddress - I2C device address of the range finder

Method Detail

getEchoData

public int[] getEchoData()
                  throws IOException

Gets the echo data array from the SRF08.

Invocation of to this method must be preceeded by a call to rangeInches, rangeCentimeters, rangeMicroseconds or ping, followed by a delay while the ranging operation compeletes (65 ms, unless the range register has been set).

Returns:

int array containing the results of the previous ranging command. The units of the result are determined by ranging command.

Throws:

IOException

getEchoDelay

public int getEchoDelay()

Gets the echo delay.

This method and the other methods of the SonarRangeFinder class should only be used in conjunction with the ping method. The result returned by this method will be incorrect if rangeInches or rangeCentimeters is used.

Specified by:

getEchoDelay in class SonarRangeFinder

Returns:

delay time until the echo of the ping is heard in microseconds -1 if no data

getSoftwareRevision

public int getSoftwareRevision()
                        throws IOException

Gets the software revsion of the device's software.

Returns:

software revision number

Throws:

IOException

ping

public void ping()

Generates a ping requesting ranging results in microseconds.

Specified by:

ping in interface RangeFinder

Specified by:

ping in class SonarRangeFinder

rangeCentimeters

public void rangeCentimeters(boolean annMode)
                      throws IOException

Generates a ping requesting ranging results in inches.

Note: Do not use this method if you will be reading the range with the methods getEchoDelay, getDistanceInches or getDistanceCm. Use the ping method instead.

Parameters:

annMode - true if Artificial Neural Network mode should be used

Throws:

IOException

rangeInches

public void rangeInches(boolean annMode)
                 throws IOException

Generates a ping requesting ranging results in inches.

Note: Do not use this method if you will be reading the range with the methods getEchoDelay, getDistanceInches or getDistanceCm. Use the ping method instead.

Parameters:

annMode - true if Artificial Neural Network mode should be used

Throws:

IOException

rangeMicroseconds

public void rangeMicroseconds(boolean annMode)
                       throws IOException

Generates a ping requesting ranging results in microseconds.

Note: Do not use this method if you will be reading the range with the methods getEchoDelay, getDistanceInches or getDistanceCm. Use the ping method instead.

Parameters:

annMode - true if Artificial Neural Network mode should be used

Throws:

IOException

readLightSensor

public int readLightSensor()

Reads the light sensor on the SRF08.

Returns:

light sensor reading (0-255) or -1 if no data

setDeviceAddress

public static void setDeviceAddress(I2CMaster i2cMaster,
                                    int initialAddress,
                                    int desiredAddress)
                             throws IOException

Changes the I2C device address of the SRF08.

This is used to change the address so multiple SRF08s can be used on the same I2C bus. Only one SRF08 should be connected to the bus when this method is called. See the technical reference documentation for more information.

Parameters:

i2cMaster - reference to the I2C bus

initialAddress - inital I2C device address of the SRF08 (factory default: 0xe0)

desiredAddress - desired I2C address (see technical documentation)

Throws:

IOException

setGainRegister

public void setGainRegister(int gain)
                     throws IOException

Sets the gain register.

See the technical reference documentation for more information.

Throws:

IOException

setRangeRegister

public void setRangeRegister(int range)
                      throws IOException

Sets the range register.

See the technical reference documentation for more information.

Throws:

IOException