Distance Sensor

Read distance, velocity, and relative size of obstacle

Since R2021b

Add-On Required: This feature requires the Simulink Coder Support Package for VEX EDR V5 Robot Brain add-on.

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Libraries:
Simulink Coder Support Package for VEX EDR V5 Robot Brain / Sensors

Description

The Distance Sensor block reads data from the Distance sensor that is connected to the VEX^® V5 Brain. You can use this block in your Simulink model to obtain distance, velocity, relative size of obstacle, and confidence. Also, the sensor outputs confidence in measuring distance.

Ports

Output

Distance — Obstacle distance

scalar

The Distance port outputs distance in meters. Nominal range is around 2 meters.

Data Types: double

Velocity — Approach velocity

scalar

The Velocity port outputs relative velocity of obstacle in meters per second.

Dependencies

To enable this port select Velocity (m/s) parameter.

Data Types: double

Size — Obstacle size

scalar

The Size output indicates the obstacle size. It ranges from 0 to 400, with larger values corresponding to larger obstacle.

Dependencies

To enable this port select the Size parameter.

Data Types: double

Confidence — Confidence in distance measurement

scalar

The Confidence indicates if an object is detected within sensor's range and its value ranges from 0 to 63. Confidence value drops to 0 when an object is beyond the sensor's range and the value is 10 for distances below 0.2 meters.

Dependencies

To enable this port select the Confidence parameter.

Data Types: double

Parameters

Smart Port — Smart Port to which VEX V5 Distance Sensor is connected

1 (default) | 1 to 21

Select the smart port on the V5 robot to which the VEX V5 Distance sensor is connected. There are 21 smart ports on the V5 robot.

Sample time — Interval to read values from sensor

0.2 (default) | positive scalar | -1

Specify the sample time in seconds to determine how often the block reads values from the sensor. When you specify this parameter as -1, Simulink^® determines the best sample time for the block based on the block context within the model.

Additional Outputs

Velocity (m/s) — Approach velocity

off (default) | on

Select this parameter to enable Velocity port. For more information on the Velocity port, see Velocity,

Size — Obstacle size

off (default) | on

Select this parameter to enable Size port. For more information on the Size port, see Size,

Confidence — Confidence in distance

on (default) | off

Select this parameter to enable Confidence port. For more information on the Confidence port, see Confidence.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2021b