Rangefinders¶

• Rangefinders
  • Sample code
  • Header File
  • Hardware Documentation
  • Debugging
  • Schematic

The rangefinders are used to detect any objects that are near the robots. The robots have three rangefinders in front and two in the back.

Sample code¶

#include <dragonfly_lib.h>
/*
 * Turns the orbs red when something is in front of them and
 * green when nothing is in front of them.
 */
void rangefinder_sample(void)
{
  range_init(); // must be called before using the rangefinder code
  orb_init(); // must be called before using the orb code

  while(1) // repeat the following code in brackets forever
  {
    int distance = range_read_distance(IR2); // gets the distance of the nearest object as read by rangefinder 2
    if(distance > MIN_IR_ADC8) // if the distance is larger than MIN_IR_ADC8, the rangefinder sees an object
      orb_set_color(RED); // sets the orb color to red
    else
      orb_set_color(GREEN); // sets the orb color to green
  }
}

Header File¶

For a full list of functions, see the rangefinder code header file

Hardware Documentation¶

More details about how the rangefinders work: Rangefinders details

Debugging¶

If the rangefinders are not working, see the rangefinder debugging guide: Rangefinders Debugging

Schematic¶