/// <summary>
/// Returns range in specified units
/// </summary>
/// <param name="rangeUnits">Ranging units</param>
/// <returns>Distance range</returns>
public int GetRange(SonarRangeUnits rangeUnits)
{
byte command;
// Set command by range units
switch (rangeUnits)
{
case SonarRangeUnits.Centimeters:
command = SRF02Sonar.RANGE_IN_CENTIMETERS;
break;
case SonarRangeUnits.Inches:
command = SRF02Sonar.RANGE_IN_INCHES;
break;
default:
command = SRF02Sonar.RANGE_IN_MICROSECONDS;
break;
}
// Write command
_slave.WriteRegister(0, command);
// Wait for a while
Thread.Sleep(40);
// Read range
_slave.ReadRegister(2, _dataBuffer);
this._autotuneMinimum = (int)Endianity.GetValue(_dataBuffer, 2, 2, ByteOrder.BigEndian);
return((int)Endianity.GetValue(_dataBuffer, 0, 2, ByteOrder.BigEndian));
}
/// <summary>
/// Returns range in specified units
/// </summary>
/// <param name="rangeUnits">Ranging units</param>
/// <returns>Distance range</returns>
public int GetRange(SonarRangeUnits rangeUnits)
{
int range = GetRangeInMicroseconds();
switch (rangeUnits)
{
case SonarRangeUnits.Centimeters:
return((int)(range * 0.0173));
case SonarRangeUnits.Inches:
return((int)(range * 0.00681));
default:
return(range);
}
}
/// <summary>
/// Returns range in specified units
/// </summary>
/// <param name="rangeUnits">Ranging units</param>
/// <returns>Distance range</returns>
public int GetRange(SonarRangeUnits rangeUnits)
{
byte command;
// Set command by range units
switch (rangeUnits)
{
case SonarRangeUnits.Centimeters:
command = SRF02Sonar.RANGE_IN_CENTIMETERS;
break;
case SonarRangeUnits.Inches:
command = SRF02Sonar.RANGE_IN_INCHES;
break;
default:
command = SRF02Sonar.RANGE_IN_MICROSECONDS;
break;
}
// Write command
_slave.WriteRegister(0, command);
// Wait for a while
Thread.Sleep(40);
// Read range
_slave.ReadRegister(2, _dataBuffer);
this._autotuneMinimum = (int)Endianity.GetValue(_dataBuffer, 2, 2, ByteOrder.BigEndian);
return (int)Endianity.GetValue(_dataBuffer, 0, 2, ByteOrder.BigEndian);
}
