Definition:

#include <aSRF08.h>
object code: aSRF08.c



aErr aSRF08_GetRange(

aStemLib stemLib, const unsigned char router, const unsigned char srf08address, const unsigned char units, short* pVals, const unsigned char nVals);

Parameters:

stemLib	-	An opaque library reference representing the aStem library which manages the communication with the BrainStem modules.
router	-	The IIC address of the module that is to be used to communicate with the SRF08 sensor.  This need not be the router.
srf08address	-	The IIC address of the SRF08 sensor that is to perform the ranging.  There are 16 available addresses starting at 0xE0 (the default) in increments of 2 (0xE0, 0xE2, etc.)
units	-	There are three units available.  There are defines for each: aSRF08_INCH, aSRF08_CM, and aSRF08_MS for measurement in inches, centimeters, and milliseconds respectively.
pVals	-	This is storage where the results will be stored.  This must be valid memory and have enough capacity to handle the specified number of readings (2 bytes per reading).
nVals	-	The number of readings to report (filling the pVals array).  This number must be between 1 and 17.

Return Value:

This routine returns aErrNone when there are no errors.  It returns aErrNotFound when there is no SRF08 properly configured to communicate through a router.

Description:

This routine manages the BrainStem packets needed to initiate and retrieve an SRF08 range reading.  The data retrieved is in the requested units.  Multiple SRF08 rangers can be accessed using a different IIC address for each ranger.

Related:

cmdVAL_SET, aStem_GetLibRef, aStem_ReleaseLibRef