XRanging.h

Laser ranging sensor interface for distance measurement and obstacle detection.

Enumerations

laser_e

typedef enum laser_sensors {
    LEFT = 0,     // Left-facing laser sensor
    RIGHT,        // Right-facing laser sensor
    FRONT,        // Front-facing laser sensor
    BACK,         // Back-facing laser sensor
    EXTERNAL      // External laser sensor
} laser_e;

XRanging Class

Global instance: XRanging

void XRanging.init(void)

Initializes all available laser ranging sensors.

void XRanging.init(laser_e laser)

Initializes a specific laser ranging sensor.

Parameters:

• laser - Specific laser sensor to initialize

int16_t XRanging.getRange(laser_e laser)

Gets distance measurement from specified laser sensor.

Parameters:

• laser - Laser sensor to read from

Returns: Range measurement in millimeters

Usage Example

// Initialize all sensors
XRanging.init();

// Or initialize specific sensors
XRanging.init(FRONT);
XRanging.init(BACK);

// Get distance measurements
int16_t frontDistance = XRanging.getRange(FRONT);
int16_t leftDistance = XRanging.getRange(LEFT);
int16_t rightDistance = XRanging.getRange(RIGHT);
int16_t backDistance = XRanging.getRange(BACK);

Monitor_Print("Front: ", frontDistance);
Monitor_Print("Left: ", leftDistance);
Monitor_Print("Right: ", rightDistance);
Monitor_Print("Back: ", backDistance);

// Obstacle avoidance
const int16_t SAFE_DISTANCE = 300; // 30cm

void obstacleAvoidance() {
    int16_t front = XRanging.getRange(FRONT);
    
    if (front < SAFE_DISTANCE) {
        Monitor_Println("Obstacle detected!");
        
        // Check sides for clear path
        int16_t left = XRanging.getRange(LEFT);
        int16_t right = XRanging.getRange(RIGHT);
        
        if (left > right && left > SAFE_DISTANCE) {
            // Turn left
            setDesiredAngle(AG_YAW, -200);
        } else if (right > SAFE_DISTANCE) {
            // Turn right
            setDesiredAngle(AG_YAW, 200);
        } else {
            // Move backward
            Command_Land(120);
        }
    }
}