Command Code:

cmdIR02_RD = 30

The Packet:

0		1		2		3
address		2		cmdIR02_RD		DEVCODE

DEVCODE -

[ (7) HOST | (6) RFLX | (5:0) IR02ID {0} ]

Description:

This command retrieves data from a Sharp GP2D02 IR ranging device.  A GP2D02 input ID that is out of range will generate an error message.

If the HOST bit is set, the BrainStem will send a cmdDEV_VAL reply packet to the host .  The reply packet echoes the GP2D02 input ID in the first data byte and contains the 1-byte distance reading in the remaining byte.  If the RFLX bit is set, the value will go directly to a reflex routine within the BrainStem.  The HOST bit and the RFLX bit may be set at the same time.

The following table shows the Console command and a sample reply when requesting a GP2D02 reading from a BrainStem with an address of 2. (The Console program automatically inserts a size byte into the command packet and extracts the size byte from the reply packet.)