com.ridgesoft.robotics.sensors
Class SharpGP2D12

java.lang.Object
  com.ridgesoft.robotics.sensors.SharpGP2D12

All Implemented Interfaces:

RangeFinder

Direct Known Subclasses:

SharpGP2Y0A02, SharpGP2Y0A21

public class SharpGP2D12
extends Object
implements RangeFinder

Class to interface with the Sharp GP2D12 infrared range finder.

Field Summary

protected AnalogInput	mInput
protected DigitalOutput	mPowerControl
protected int	mSample
protected float	mScaleFactor

Constructor Summary

SharpGP2D12(AnalogInput input, DigitalOutput powerControl)
Constructs a SharpGP2D12 range finder object.

Method Summary

float	getDistanceCm() Gets the distance to the nearest object in centimeters based on an curve fitting apporximation of the output voltage verse distance curve.
float	getDistanceInches() Gets the distance to the nearest object in inches based on an curve fitting apporximation of the output voltage verse distance curve.
void	ping() Powers the sensor on if necessary and takes a sample.

Methods inherited from class java.lang.Object

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

Field Detail

mInput

protected AnalogInput mInput

mPowerControl

protected DigitalOutput mPowerControl

mSample

protected int mSample

mScaleFactor

protected float mScaleFactor

Constructor Detail

SharpGP2D12

public SharpGP2D12(AnalogInput input,
                   DigitalOutput powerControl)

Constructs a SharpGP2D12 range finder object.

Parameters:

input - analog input receiving sensor output

powerControl - digital output used to control the power to the sensor. Should be null if power is always on. When power switching is used, the ping method sleeps for 70 milliseconds after powering up the sensor.

Method Detail

getDistanceCm

public float getDistanceCm()

Gets the distance to the nearest object in centimeters based on an curve fitting apporximation of the output voltage verse distance curve.

Specified by:

getDistanceCm in interface RangeFinder

Returns:

distance in inches or -1 if out of valid measurement range

getDistanceInches

public float getDistanceInches()

Gets the distance to the nearest object in inches based on an curve fitting apporximation of the output voltage verse distance curve.

Specified by:

getDistanceInches in interface RangeFinder

Returns:

distance in inches or -1 if out of valid measurement range

ping

public void ping()

Powers the sensor on if necessary and takes a sample.

Note: The sensor has an ~50 millisecond sample frequency. This method sleeps for 70 milliseconds after powering the sensor on if a powerEnable was provided in the constructor.

Specified by:

ping in interface RangeFinder