private void Initialize()
{
bool originalMode = s_automaticRoundRobinEnabled;
SetAutomaticMode(false);
lock (s_syncRoot)
{
s_currentSensors.Add(this);
}
m_counter = new Counter { MaxPeriod = 1.0 };
m_counter.SetSemiPeriodMode(true);
m_counter.Reset();
Enabled = true;
SetAutomaticMode(originalMode);
++s_instances;
HAL.Base.HAL.Report(ResourceType.kResourceType_Ultrasonic, s_instances);
LiveWindow.LiveWindow.AddSensor("Ultrasonic", m_echoChannel.Channel, this);
}
private void Initialize()
{
bool originalMode = s_automaticRoundRobinEnabled;
SetAutomaticMode(false);
lock (s_syncRoot)
{
s_currentSensors.Add(this);
}
m_counter = new Counter {
MaxPeriod = 1.0
};
m_counter.SetSemiPeriodMode(true);
m_counter.Reset();
Enabled = true;
SetAutomaticMode(originalMode);
++s_instances;
HAL.Base.HAL.Report(ResourceType.kResourceType_Ultrasonic, s_instances);
LiveWindow.LiveWindow.AddSensor("Ultrasonic", m_echoChannel.Channel, this);
}
/// <summary>
/// Ping a single ultrasonic sensor.
/// </summary>
/// <remarks>This only work if automatic mode is disabled. A single ping is sent out, and the counter
/// should count the semi-period when it comes in. The counter is reset to make the current
/// value invalid.</remarks>
public void Ping()
{
SetAutomaticMode(false);
m_counter.Reset();
m_pingChannel.Pulse(PingTime);
}