public RangerSensorParkingSonar(string name, SensorPose pose, IAbstractRobotHardware brick, int frequency) { this.Name = name; this.Pose = pose; // reliably measured range: this.MinDistanceMeters = 0.0d; // shows 0cm all right this.MaxDistanceMeters = 2.5d; // shows 2.55m at infinity this.parkingSonar = brick.produceParkingSonar(frequency); parkingSonar.DistanceChanged += new HardwareComponentEventHandler(psonar_DistanceChanged); }