ARDUINO MEGA Functions Sensors

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|The VEX 2.0 Cortex is equipped with 20 sensor ports. There are 8 Analog Sensor Ports and 12 Digital Sensor Ports.  Note that unlike the VEX - PIC microcontroller, all Analog sensors must be in Analog ports, while all Digital sensors must be in Digital ports.
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|The Arduino MEGA has 16 analog sensor ports and 53 digital sensor ports.
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There are a variety of functions and variables used for configuring these ports and accessing their values.
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Configuring sensors can be complicated. ROBOTC has a built-in wizard that can be used to configure the VEX 2.0 Cortex sensors. The wizard contains a number of PC windows that allow you to set the following fields for the sensor:
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*The variable name that you want to assign to the sensor. Using a name like “leftBumper” makes for a more readable program than 'dgtl3'!
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*The port that the sensor is connected to.
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*The type of sensor – touch, quadrature encoder, sonar, line follower, etc.
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Revision as of 18:57, 9 May 2012

ARDUINO → Functions and Variables → ARDUINO MEGA Functions Sensors

Contents
Color Key
Function:
Variable:


Information

The Arduino MEGA has 16 analog sensor ports and 53 digital sensor ports.


SensorBoolean

const word SensorBoolean[tSensors sensor]
(word) This returns a true or false reading from the sensor. (Mostly used by Touch sensors).


Parameter Explanation Data Type
sensor A sensor port or name tSensors 


while(SensorBoolean[touchSensor]) // Loop while robot's bumper/touch sensor is pressed in
{
   motor[rightMotor] = 63;   // Right motor is run at half (63) power forward
   motor[leftMotor]  = 63;   // Left motor is run at half (63) power forward
}


SensorRaw

word SensorRaw[tSensors sensor]
(word) This array value will return the "raw" (un-normalized) value of a sensor. Usually this is the raw A-D converted value, which is an analog value between 0 to 1023.


Parameter Explanation Data Type
sensor A sensor port or name tSensors 


if(SensorRaw[lightSensor] > 512) // If the Raw Value of the Light Sensor is greater than 512:
{
   motor[rightMotor] = 63;   // Right motor is run at half (63) power forward
   motor[leftMotor]  = 63;   // Left motor is run at half (63) power forward 
}


SensorType

TSensorTypes SensorType[tSensors sensor]
(TSensorTypes) The SensorType array is used to specify what type of sensor is connected to a certain port. Most users should not have to use this functionality and should use the Motors and Sensor Setup instead.


Parameter Explanation Data Type
sensor A sensor port or name tSensors 


SensorType[sonarSensor] = sensorSonar;  // set 'SonarSensor' to be of type sensorSonar (the Motors and 
                                        // sensors Setup screen does this for you in the background)


SensorValue

word SensorValue[tSensors sensor]
(word) This array value returns the value of the sensor in a normalized fashion. Rather than returning a raw value of 0 to 1023, ROBOTC will interpret the data from the "SensorType" and return a more accurate representation of the sensor's data. An example of this is the Light Sensor, which will return a percentage value from 0 to 100.


Parameter Explanation Data Type
sensor A sensor port or name tSensors 


while(SensorValue(touchSensor) == 0) //Loop while robot's bumper/touch sensor isn't pressed in
{
   motor[rightMotor] = 63;   // Right motor is run at half (63) power forward
   motor[leftMotor]  = 63;   // Left motor is run at half (63) power forward
}
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