com.ridgesoft.robotics.sensors
Class ParallaxPing

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

All Implemented Interfaces:

RangeFinder

public class ParallaxPing
extends SonarRangeFinder

Class to interface with the Parallax Ping))) ultrasonic range finder.

Constructor Summary

ParallaxPing(PulseInput signal)
Constructs a ParallaxPing object.

Method Summary

int	getEchoDelay() Gets the echo delay.
void	ping() Generates a ping.

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

ParallaxPing

public ParallaxPing(PulseInput signal)

Constructs a ParallaxPing object.

Parameters:

signal - A digital input port that supports both the PulseInput and PulseOutput interfaces.

Method Detail

getEchoDelay

public int getEchoDelay()

Gets the echo delay.

Specified by:

getEchoDelay in class SonarRangeFinder

Returns:

delay time until the echo of the ping is heard in microseconds -1 if pulse not complete or no pulse

ping

public void ping()

Generates a ping.

Note: At its longest range, the sensor will take approximately 20 milliseconds to take a range measurement. Therefore, this method should not be called more frequently than every 25 milliseconds or so.

Specified by:

ping in interface RangeFinder

Specified by:

ping in class SonarRangeFinder