API.md

BricktronicsUltrasonic API

This library interfaces with LEGO NXT ultrasonic sensors. It can be used with the Bricktronics Shield, Bricktronics Megashield, or standalone with the Bricktronics Breakout Board. For the shield/megashield, use the constructor below with the BricktronicsSensorSettings struct, otherwise use the constructor below that accepts the pin numbers.

Connection with Bricktronics Shield

Use the ultrasonic sensor with sensor port 3 or 4 on the Bricktronics Shield. Use the jumpers to connect pins 1-2 and 4-5.

Constructor usage for Bricktronics Shield

#include <BricktronicsShield.h>
#include <BricktronicsUltrasonic.h>
BricktronicsUltrasonic u(BricktronicsShield::SENSOR_3);

Connection with Bricktronics Megashield

Use the ultrasonic sensor with any sensor port on the Bricktronics Megashield. Use the jumpers to connect pins 1-2 and 4-5.

Constructor usage for Bricktronics Megashield

#include <BricktronicsMegashield.h>
#include <BricktronicsUltrasonic.h>
BricktronicsUltrasonic u(BricktronicsMegashield::SENSOR_1);

Connection with Bricktronics Breakout Board

• Pin 1 - Connect to an external power supply between 7.2 and 9 volts DC
• Pin 2 - Connect to Ground
• Pin 3 - Connect to Ground
• Pin 4 - Connect to 5V
• Pin 5 - Connect to any digital pin (this is sclPin below)
• Pin 6 - Connect to any digital pin (this is sdaPin below)

Constructor usage for Bricktronics Breakout Board:

#include <BricktronicsUltrasonic.h>
BricktronicsUltrasonic u(8, 12); // Constructor arguments: sclPin, sdaPin

Quick Example

#include <BricktronicsUltrasonic.h>

// Use one of the constructor options listed above.
BricktronicsUltrasonic u(8, 12);

void setup()
{
    Serial.begin(115200);
    // If using a Bricktronics Shield, you need to call
    // BricktronicsShield::begin();
    u.begin();
}

void loop()
{
    Serial.println(u.getDistance());
    delay(100);
}

Constructors and begin()

BricktronicsUltrasonic(uint8_t sclPin, uint8_t sdaPin)

Constructor - Simple constructor that accepts the SCL and SDA pin numbers.

Parameters

• uint8_t sclPin - The Arduino pin number where the sensor's pin 5 is connected. Digital input and output.
• uint8_t sdaPin - The Arduino pin number where the sensor's pin 6 is connected. Digital input and output.

BricktronicsUltrasonic(const BricktronicsSensorSettings &settings)

Constructor - Advanced constructor that accepts a SensorSettings struct to also override the low-level Arduino functions.

Parameters

• const BricktronicsSensorSettings &settings - A const reference to the struct containing all the sensor settings. Get these structs from the BricktronicsShield or BricktronicsMegashield library.

void begin(void)

Call this function once for each instance during your setup() function.

Basic ultrasonic sensor functions

uint8_t getDistance(void)

Basic ultrasonic sensor read function. Returns the latest sensor reading, returns 0 in case of error. Measured distance is in units of centimeters.