Yoctopuce Yocto-RangeFinder, User Manual, Page: 64 / 497

// Hot-plug is easy: just check that the device is online
if( rangefinder-> isOnline ())
{
// Use rangefinder->get_currentValue(), ...
}
Let's look at these lines in more details.
yocto_api.h et yocto_rangefinder.h
These two include files provide access to the functions allowing you to manage Yoctopuce modules.
yocto_api.h
must always be used,
yocto_rangefinder.h
is necessary to manage modules
containing a range finder, such as Yocto-RangeFinder.
yRegisterHub
The
yRegisterHub
function initializes the Yoctopuce API and indicates where the modules should
be looked for. When used with the parameter
"usb"
, it will use the modules locally connected to the
computer running the library. If the initialization does not succeed, this function returns a value
different from
YAPI_SUCCESS
and
errmsg
contains the error message.
yFindRangeFinder
The
yFindRangeFinder
function allows you to find a range finder from the serial number of the
module on which it resides and from its function name. You can use logical names as well, as long
as you have initialized them. Let us imagine a Yocto-RangeFinder module with serial number
YRNGFND1-123456 which you have named " MyModule ", and for which you have given the
rangeFinder function the name " MyFunction ". The following five calls are strictly equivalent, as long
as " MyFunction " is defined only once.
YRangeFinder *rangefinder = yFindRangeFinder ( "YRNGFND1-123456.rangeFinder" ) ;
YRangeFinder *rangefinder = yFindRangeFinder ( "YRNGFND1-123456.MyFunction" ) ;
YRangeFinder *rangefinder = yFindRangeFinder ( "MyModule.rangeFinder" ) ;
YRangeFinder *rangefinder = yFindRangeFinder ( "MyModule.MyFunction" ) ;
YRangeFinder *rangefinder = yFindRangeFinder ( "MyFunction" ) ;
yFindRangeFinder
returns an object which you can then use at will to control the range finder.
isOnline
The
isOnline()
method of the object returned by
yFindRangeFinder
allows you to know if
the corresponding module is present and in working order.
get_currentValue
The
get_currentValue()
method of the object returned by
yFindRangeFinder
allows you
to obtain the distance measured by the sensor, in mm or in inches depending on the sensor
configuration.
A real example
Launch your C++ environment and open the corresponding sample project provided in the directory
Examples/Doc-GettingStarted-Yocto-RangeFinder of the Yoctopuce library. If you prefer to work
with your favorite text editor, open the file
main.cpp
, and type
make
to build the example when you
are done.
In this example, you will recognize the functions explained above, but this time used with all side
materials needed to make it work nicely as a small demo.
#include "yocto_api.h"
#include "yocto_rangefinder.h"
#include "yocto_lightsensor.h"
#include "yocto_temperature.h"
#include <iostream>
#include <stdlib.h>
10. Using Yocto-RangeFinder with C++
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