ev3dev_rs/pupdevices/
ultrasonic_sensor.rs

1use crate::{
2    attribute::AttributeName,
3    error::Ev3Result,
4    parameters::SensorPort,
5    sensor_driver::{SensorDriver, SensorMode, SensorType},
6};
7
8/// A stock EV3 ultrasonic sensor.
9///
10/// # Examples
11/// ``` no_run
12/// use ev3dev_rs::pupdevices::UltrasonicSensor;
13/// use ev3dev_rs::parameters::SensorPort;
14///
15/// let ultrasonic_sensor = UltrasonicSensor::new(SensorPort::In1)?;
16///
17/// println!("Distance (in): {}", ultrasonic_sensor.distance_in()?);
18/// println!("Distance (cm): {}", ultrasonic_sensor.distance_cm()?);
19///
20/// ```
21pub struct UltrasonicSensor {
22    driver: SensorDriver,
23}
24
25impl UltrasonicSensor {
26    /// Find an `UltrasonicSensor` on the given port.
27    ///
28    /// Will return `SensorNotFound` if no sensor is found
29    /// or `IncorrectSensorType` if the found sensor is not an `UltrasonicSensor`.
30    pub fn new(port: SensorPort) -> Ev3Result<Self> {
31        let driver = SensorDriver::new(SensorType::Ultrasonic, port)?;
32        Ok(Self { driver })
33    }
34
35    /// Get the distance value of the sensor in inches to one decimal place (0-2550).
36    pub fn distance_in(&self) -> Ev3Result<f32> {
37        if self.driver.mode.get() != SensorMode::UltrasonicDistanceIn {
38            self.driver.set_mode(SensorMode::UltrasonicDistanceIn)?;
39        }
40        Ok(self
41            .driver
42            .read_attribute(AttributeName::Value0)?
43            .parse::<f32>()?
44            / 10.0)
45    }
46
47    /// Get the distance value of the sensor in centimeters to one decimal place (0-1003).
48    pub fn distance_cm(&self) -> Ev3Result<f32> {
49        if self.driver.mode.get() != SensorMode::UltrasonicDistanceCm {
50            self.driver.set_mode(SensorMode::UltrasonicDistanceCm)?;
51        }
52        Ok(self
53            .driver
54            .read_attribute(AttributeName::Value0)?
55            .parse::<f32>()?
56            / 10.0)
57    }
58}
ev3dev_rs/pupdevices/ultrasonic_sensor.rs

ev3dev_rs/pupdevices/
ultrasonic_sensor.rs
