com.ridgesoft.robotics.sensors
Class DevantechSRF04

java.lang.Object
  com.ridgesoft.robotics.SonarRangeFinder
      com.ridgesoft.robotics.sensors.DevantechSRF04

All Implemented Interfaces:

RangeFinder

public class DevantechSRF04
extends SonarRangeFinder

Class to interface with the Devantech SRF04 ultrasonic range finder.

Constructor Summary

DevantechSRF04(PulseOutput trigger, PulseInput echoInput)
Constructs a range finder object.

Method Summary

int	getEchoDelay() Gets the echo delay, including 100 usec blanking time.
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

DevantechSRF04

public DevantechSRF04(PulseOutput trigger,
                      PulseInput echoInput)

Constructs a range finder object.

Parameters:

trigger - digital output used to trigger a sonic burst

echoInput - pulse input used to measure echo delay

Method Detail

getEchoDelay

public int getEchoDelay()

Gets the echo delay, including 100 usec blanking time.

Specified by:

getEchoDelay in class SonarRangeFinder

Returns:

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

ping

public void ping()

Generates a ping.

Note: The sensor has a 10 millisecond recovery time. Therefore, this method should not be called within 10 milliseconds of completion of the previous sample.

Specified by:

ping in interface RangeFinder

Specified by:

ping in class SonarRangeFinder