Definition:

#include <aSRF08.tea>




int aSRF08_RangeInt(

unsigned char rangerAddress, unsigned char unitCode);

Parameters:

rangerAddress	-	The I2C address of the ranger to be read.
unitCode	-	The unit code for the return value.  There are three valid codes: aSRF08_INCH (inches) aSRF08_CM (centimeters) aSRF08_MS (milliseconds)

Return Value:

The reading from the addressed SRF08 ranger with the specified units.

Description:

This routine takes a single reading from the Devantech SRF08 Sonar Ranging Module ranger being addressed.  There are 16 possible addresses (0xE0 - 0xFE, even addresses).  The unit code selects a reading that is an actual measurement (inches or cm) or the time-of-flight for the echo to return to the sensor.  This routine automatically adjusts the I2C baud rate to a setting that is compatible with the SRF08.  Along with the SRF08, this routine and the unit constants are also compatible with the SRF10 and SRF235 sonar modules.

Example:

intVal = aSRF08_RangeInt(0xE0, aSRF08_INCH);

This would take a reading and set intVal equal to the distance to the nearest echo object in inch increments.