Ev3Wrap::IrSeeker
public methods
static IrSeeker bind(ev3dev::address_type addr = ev3dev::INPUT_AUTO)
Constructor
Description: static constructor to bind to an input address. returns the binded IrSeeker object. Will automatically detect which port the IrSeeker is connected if no parameter given.
Warning - This sensor’s bind method is potentially unstable. We recommend allowing it to auto-detect instead of specifying an address.
int getDirectionAC()
getter method
Description: gets the direction of the ball from 0-9, 0 representing undetected, 5 in the middle, 1 on the left and 9 on the right side. Runs the Sensor in modulated mode (less interference from sunlight)
Tip - use
int getBallDirection()instead.
int getDirectionDC()
getter method
Description: gets the direction of the ball from 0-9, 0 representing undetected, 5 in the middle, 1 on the left and 9 on the right side. Runs the Sensor in unmodulated mode (more interference from sunlight)
Tip - use
int getBallDirection()instead.
std::vector<int> getAllAC()
getter method
Description: gets all 7 AC signal strength values in the IrSensor put in a std::vector. Each of them are measured from 0-9.
std::vector<int> getAllDC()
getter method
Description: gets all 6 DC signal strength values in the IrSensor put in a std::vector. Each of them are measured from 0-9.
int getACStrength()
getter method
Description: gets the signal strength from the ball (measured from 0-255) in AC (modulated mode)
int getDCStrength()
getter method
deprecated
Description: gets the signal strength from the ball (measured from 0-255) in DC (unmodulated mode)
int getBallDirection()
getter method
Description: returns 1 if the ball is on the right of the sensor, returns 0 if the ball is exactly in front of the sensor, returns -1 if ball is on the left of the sensor, returns -2 if ball is undetected.
Tip - this method relies on the AC (modulated) mode, meaning it should be more accurate and clear.
int getDirectionACDegrees()
getter method
Description: returns the direction of the ball in degrees -180 to 180. (the same range as the CompassSensor’s int getRelativeDirection(int key))