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<title>libdragonfly: Rangefinder</title>
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<h1>Rangefinder</h1>Functions for using the IR rangefinders.
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<a href="#_details">More...</a><table border="0" cellpadding="0" cellspacing="0">
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<tr><td></td></tr>
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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 colspan="2"><br><h2>Functions</h2></td></tr>


    		
  

  

    
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__rangefinder.html#g52d0666b725e6d3a14b5bddc28190e59">range_init</a> (void)</td></tr>


    		
  

  

    
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize the rangefinders.  <a href="#g52d0666b725e6d3a14b5bddc28190e59"></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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</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="g52d0666b725e6d3a14b5bddc28190e59"></a><!-- doxytag: member="rangefinder.c::range_init" ref="g52d0666b725e6d3a14b5bddc28190e59" args="(void)" -->


    		
  

  

    
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      <table class="memname">


    		
  

  

    
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          <td class="memname">void range_init           </td>


    		
  

  

    
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          <td>(</td>


    		
  

  

    
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          <td class="paramtype">void&nbsp;</td>


    		
  

  

    
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          <td class="paramname">          </td>


    		
  

  

    
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          <td>&nbsp;)&nbsp;</td>


    		
  

  

    
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          <td width="100%"></td>


    		
  

  

    
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        </tr>


    		
  

  

    
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      </table>


    		
  

  

    
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<p>


    		
  

  

    
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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="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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<p>References <a class="el" href="dio_8h-source.html#l00096">_PIN_B4</a>, and <a class="el" href="dio_8c-source.html#l00162">digital_output()</a>.</p>


    		
  

  

    
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<p>Referenced by <a class="el" href="dragonfly__lib_8c-source.html#l00068">dragonfly_init()</a>.</p>


    		
  

  

    
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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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          <td width="100%"></td>


    		
  

  

    
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Read the distance from a rangefinder. 


    		
  

  

    
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<p>


    		
  

  

    
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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</dd></dl>


    		
  

  

    
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__rangefinder.html#g52d0666b725e6d3a14b5bddc28190e59" title="Initialize the rangefinders.">range_init</a> </dd></dl>


    		
  

  

    
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<p>References <a class="el" href="analog_8c-source.html#l00119">analog8()</a>.</p>


    		
  

  

    
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<p>Referenced by <a class="el" href="move_8c-source.html#l00107">move_avoid()</a>.</p>


    		
  

  

    
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<hr size="1"><address style="text-align: right;"><small>Generated on Thu Apr 16 18:33:23 2009 for libdragonfly by&nbsp;


    		
  

  

    
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<a href="http://www.doxygen.org/index.html">


    		
  

  

    
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.5 </small></address>


    		
  

  

    
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