Package ch.hevs.kart

Class KartRegisters.V2.Status.Sensors.RangeFinder

java.lang.Object

ch.hevs.kart.KartRegisters.V2.Status.Sensors.RangeFinder

Enclosing class:

KartRegisters.V2.Status.Sensors

public static final class KartRegisters.V2.Status.Sensors.RangeFinder
extends Object

Ultrasonic distance ranger value.

This status register reflects the actual measured value of by using the ultrasonic distance ranger. The sensor has to be connected to the connector labeled IN1 on the IO board.

The distance measure block in the sensors FPGA counts the ultrasonic pulse length in terms of the 10 MHz clock periods. The distance im meters (m) is thus given by distance = count * 0.000017 or for millimeters (mm) distance = count * 0.017. The register has a size of 16 bits, so values between 0 and 65353 and thus distances between 0m and 1.11m can theoretically be measured.

Field Summary

Fields

Modifier and Type	Field	Description
static final int	ADDRESS
static final int	MAX
static final int	MIN

Constructor Summary

Constructors

Constructor	Description
RangeFinder()

Method Summary

Modifier and Type	Method	Description
static double	TO_M(int registerValue)
static double	TO_MM(int registerValue)

Methods inherited from class java.lang.Object

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

Field Details

ADDRESS

public static final int ADDRESS

See Also:

• Constant Field Values

MIN

public static final int MIN

See Also:

• Constant Field Values

MAX

public static final int MAX

See Also:

• Constant Field Values

Constructor Details

RangeFinder

public RangeFinder()

Method Details

TO_M

public static double TO_M(int registerValue)

TO_MM

public static double TO_MM(int registerValue)