RPR220 Class Reference

C++ API for the RPR220 based Grove IR Reflective Sensor. More...

Detailed Description

• ID: rpr220
• Name: rpr220 IR reflective sensor
• Category: light
• Manufacturer: seeed
• Link: http://www.seeedstudio.com/wiki/Grove_-_Infrared_Reflective_Sensor
• Connection: gpio

UPM module for the Grove IR Reflective Sensor. The sensitivity can be adjusted with the potentiometer on the sensor module. It has a range of approximately 15mm, and a fast response time.

It detects high contrast dark areas on a light background.

This module allows the user to determine the current status (black detected or not). Additionally, if desired, an Interrupt Service Routine (ISR) can be installed that will be called when black is detected. Either method can be used, depending on your use case.

  // This example uses a simple method to determine current status

  // Instantiate an RPR220 digital pin D2
  // This was tested on the Grove IR Reflective Sensor

  upm::RPR220* rpr220 = new upm::RPR220(2);
  
  while (shouldRun)
    {
      if (rpr220->blackDetected())
        cout << "Black detected" << endl;
      else
        cout << "Black NOT detected" << endl;

      usleep(100000);           // 100ms
    }

  // This example uses an interrupt handler to increment a counter
  
  // Instantiate an RPR220 digital pin D2
  // This was tested on the Grove IR Reflective Sensor

  upm::RPR220* rpr220 = new upm::RPR220(2);
  
  // Here, we setup our Interupt Service Routine (ISR) to count
  // 'black' pulses detected.

  rpr220->installISR(rprISR, NULL);

  while (shouldRun)
    {
      cout << "Counter: " << counter << endl;

      sleep(1);
    }

Public Member Functions
	RPR220 (int pin)
	~RPR220 ()
bool	blackDetected ()
void	installISR (void(*isr)(void *), void *arg)
void	uninstallISR ()

Constructor & Destructor Documentation

RPR220

(

int

pin

)

Grove IR Reflective Sensor constructor

Parameters

pin	digital pin to use

~RPR220

(

)

RPR220 Destructor

Member Function Documentation

bool blackDetected

(

)

Get the status of the pin, true means black detected

Returns

true if the sensor is detecting black

void installISR	(	void(*)(void *)	isr,
		void *	arg
	)

Install an Interrupt Service Routine (ISR) to be called when black is detected

Parameters

fptr	function pointer to function to be called on interrupt
arg	pointer to an object that will be supplied as an arguement to the ISR.

void uninstallISR

(

)

Uninstall the previously installed Interrupt Service Routine (ISR)

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The documentation for this class was generated from the following files:

• /var/lib/jenkins/workspace/upm-doc-stable/src/rpr220/rpr220.h
• /var/lib/jenkins/workspace/upm-doc-stable/src/rpr220/rpr220.cxx