Robotics.NXT.Sensor.Ultrasonic

This module defines an interface to a digital ultrasonic sensor of the NXT kit.

I2C communication with ultrasonics sensor is described in Lego Mindstorms NXT Hardware Developer Kit, Appendix 7 - Ultrasonic sensor I2C communication protocol.

Initialization

usInit :: InputPort -> NXT ()

Initializes sensor on the given input port. Default is ContinuousMeasurement mode.

Measurement

usGetMeasurement :: InputPort -> MeasurementNumber -> NXT (Maybe Measurement)

Gets last measurement for a given measurement number based on the current mode. To retrieve new SingleShot measurements first use usSetMode (with SingleShot as an argument) to send new ultrasonic ping and after approximately 20ms read the results. (Change of NXT Bluetooth communication direction takes around 30 ms.) In ContinuousMeasurement mode new measurements are made automatically based on the continuous measurement interval value.

usGetAllMeasurements :: InputPort -> NXT [Measurement]

Helper function which gets all measurements available in order (closer first).

Configuration

usSetMode :: InputPort -> Mode -> NXT ()

Sets current mode of operation.

usGetMode :: InputPort -> NXT Mode

Gets current mode of operation.

data Mode

Constructors

Off

Turns sensor off.

SingleShot

In this mode ultrasonic sensor only makes a new measurement every time this mode is set. The sensor measures distances for up to 8 objects (8 first echoes) which can be retrieved with usGetMeasurement.

ContinuousMeasurement

In this mode the sensor continuously makes new measurement with the specific interval. This is the default mode.

EventCapture

Within this mode the sensor will measure whether any other ultrasonic sensors are within the vicinity. With this information a program can evaluate when it is best to make a new measurement which will not conflict with other ultrasonic sensors.

WarmReset

Requests warm reset.

Instances

Bounded Mode

Enum Mode

Eq Mode

Ord Mode

Read Mode

Show Mode

usSetContinuousInterval :: InputPort -> ContinuousInterval -> NXT ()

Sets current continuous measurement interval value.

usGetContinuousInterval :: InputPort -> NXT ContinuousInterval

Gets current continuous measurement interval value.

usSetActualZero :: InputPort -> Zero -> NXT ()

Sets current (actual) zero value. This is used to calibrate sensor.

usGetActualZero :: InputPort -> NXT Zero

Gets current (actual) zero value.

usSetActualScaleFactor :: InputPort -> ScaleFactor -> NXT ()

Sets current (actual) scale factor value. This is used to calibrate sensor.

usGetActualScaleFactor :: InputPort -> NXT ScaleFactor

Gets current (actual) scale factor value.

usSetActualScaleDivisor :: InputPort -> ScaleDivisor -> NXT ()

Sets current (actual) scale divisor value. This is used to calibrate sensor.

usGetActualScaleDivisor :: InputPort -> NXT ScaleDivisor

Gets current (actual) scale divisor value.

Constants

usGetVersion :: InputPort -> NXT String

Reads software version string (V1.0).

usGetVendorID :: InputPort -> NXT String

Reads vendor ID string (LEGO).

usGetDeviceID :: InputPort -> NXT String

Reads device ID string (Sonar).

usGetFactoryZero :: InputPort -> NXT Zero

Reads factory zero value.

usGetFactoryScaleFactor :: InputPort -> NXT ScaleFactor

Reads factory scale factor value.

usGetFactoryScaleDivisor :: InputPort -> NXT ScaleDivisor

Reads factory scale divisor value.

usGetMeasurementUnits :: InputPort -> NXT String

Reads measurement units string (10E-2m, a centimeter).

Types

type Zero = Int

Type of a zero value.

type ScaleFactor = Int

Type of a scale factor value.

type ScaleDivisor = Int

Type of a scale divisor value.

type ContinuousInterval = Int

Type of a continuous measurement interval value. This seems to be in the range 1-15.

type MeasurementNumber = Int

Type of a measurement number. Sensor stores measurements (distances) for the first 8 echoes (numbered 0-7) it receives in SingleShot mode. For ContinuousMeasurement and EventCapture modes use first (0) measurement (distance) number.