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<title>Colony: Rangefinder</title>
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<h1>Rangefinder</h1>Functions for using the IR rangefinders.  
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<a href="#_details">More...</a>
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<p>
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<tr><td colspan="2"><br><h2>Defines</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g7b2b32709f9770a283701ffcf3723497"></a><!-- doxytag: member="rangefinder::IR1" ref="g7b2b32709f9770a283701ffcf3723497" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__rangefinder.html#g7b2b32709f9770a283701ffcf3723497">IR1</a>&nbsp;&nbsp;&nbsp;6</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">IR Rangefinder 1. <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g5a08e4f5cb3582e623cc14a6c92d48de"></a><!-- doxytag: member="rangefinder::IR2" ref="g5a08e4f5cb3582e623cc14a6c92d48de" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__rangefinder.html#g5a08e4f5cb3582e623cc14a6c92d48de">IR2</a>&nbsp;&nbsp;&nbsp;5</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">IR Rangefinder 2. <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g26c72d21cca0ec21af4bd9b20ba3ad51"></a><!-- doxytag: member="rangefinder::IR3" ref="g26c72d21cca0ec21af4bd9b20ba3ad51" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__rangefinder.html#g26c72d21cca0ec21af4bd9b20ba3ad51">IR3</a>&nbsp;&nbsp;&nbsp;4</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">IR Rangefinder 3. <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g20f2f5908baa0eeba04b9ceaf718cea0"></a><!-- doxytag: member="rangefinder::IR4" ref="g20f2f5908baa0eeba04b9ceaf718cea0" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__rangefinder.html#g20f2f5908baa0eeba04b9ceaf718cea0">IR4</a>&nbsp;&nbsp;&nbsp;3</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">IR Rangefinder 4. <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g23554754d5334bdc35df623e1e012ede"></a><!-- doxytag: member="rangefinder::IR5" ref="g23554754d5334bdc35df623e1e012ede" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__rangefinder.html#g23554754d5334bdc35df623e1e012ede">IR5</a>&nbsp;&nbsp;&nbsp;2</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">IR Rangefinder 5. <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g65133481288b92545c8656c562ffa473"></a><!-- doxytag: member="rangefinder::MIN_IR_ADC8" ref="g65133481288b92545c8656c562ffa473" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__rangefinder.html#g65133481288b92545c8656c562ffa473">MIN_IR_ADC8</a>&nbsp;&nbsp;&nbsp;20</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">smallest meaningful rangefinder reading (logarithmic scale) <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gdfcbaba8ea6729bf2e0ebcfdbcff0abb"></a><!-- doxytag: member="rangefinder::MAX_IR_ADC8" ref="gdfcbaba8ea6729bf2e0ebcfdbcff0abb" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__rangefinder.html#gdfcbaba8ea6729bf2e0ebcfdbcff0abb">MAX_IR_ADC8</a>&nbsp;&nbsp;&nbsp;133</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">largest meaningful rangefinder reading (logarithmic scale) <br></td></tr>
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__rangefinder.html#ge692e1187d2e8de2a213780478be131d">range_init</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize the rangefinders.  <a href="#ge692e1187d2e8de2a213780478be131d"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__rangefinder.html#g22bd0717784e34cb3a0762d78554dcf2">range_read_distance</a> (int range_id)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Read the distance from a rangefinder.  <a href="#g22bd0717784e34cb3a0762d78554dcf2"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__rangefinder.html#g12e34a97ff38b9fa2e49026804cf420f">linearize_distance</a> (int value)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Convert logarithmic-scale distance readings to a linear scale.  <a href="#g12e34a97ff38b9fa2e49026804cf420f"></a><br></td></tr>
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</table>
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<hr><a name="_details"></a><h2>Detailed Description</h2>
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Functions for using the IR rangefinders. 
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<p>
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Functions for using the IR rangefinders. <hr><h2>Function Documentation</h2>
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<a class="anchor" name="g12e34a97ff38b9fa2e49026804cf420f"></a><!-- doxytag: member="rangefinder.c::linearize_distance" ref="g12e34a97ff38b9fa2e49026804cf420f" args="(int value)" -->
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          <td class="memname">int linearize_distance           </td>
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          <td>(</td>
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          <td class="paramtype">int&nbsp;</td>
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          <td class="paramname"> <em>value</em>          </td>
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Convert logarithmic-scale distance readings to a linear scale. 
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Transforms distance readings from logarithmic to linear scale. This probably isn't the function you are looking for.<p>
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Note: pgm_read_word() needs additional testing<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>value</em>&nbsp;</td><td>the 8-bit analog value from rangefinder</td></tr>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>linearized distance reading from rangefinder (integer in [101,800]) </dd></dl>
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<a class="anchor" name="ge692e1187d2e8de2a213780478be131d"></a><!-- doxytag: member="rangefinder.c::range_init" ref="ge692e1187d2e8de2a213780478be131d" args="(void)" -->
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          <td class="memname">int range_init           </td>
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          <td>(</td>
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Initialize the rangefinders. 
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Initializes the rangefinders. This must be called before range_read_distance.<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise</dd></dl>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__rangefinder.html#g22bd0717784e34cb3a0762d78554dcf2" title="Read the distance from a rangefinder.">range_read_distance</a> </dd></dl>
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<a class="anchor" name="g22bd0717784e34cb3a0762d78554dcf2"></a><!-- doxytag: member="rangefinder.c::range_read_distance" ref="g22bd0717784e34cb3a0762d78554dcf2" args="(int range_id)" -->
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          <td class="memname">int range_read_distance           </td>
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          <td>(</td>
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          <td class="paramtype">int&nbsp;</td>
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          <td class="paramname"> <em>range_id</em>          </td>
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          <td>&nbsp;)&nbsp;</td>
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Read the distance from a rangefinder. 
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Reads the distance measured by one of the rangefinders. This distance is in arbitrary units.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>range_id</em>&nbsp;</td><td>the rangefinder to use. This should be one of the constants IR1 - IR5.</td></tr>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>the distance measured by the rangefinder, or an error code</dd></dl>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__rangefinder.html#ge692e1187d2e8de2a213780478be131d" title="Initialize the rangefinders.">range_init</a> </dd></dl>
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:59 2009 for Colony by&nbsp;
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