[Gearbox-commit] SF.net SVN: gearbox: [255] gearbox/trunk/submitted/hokuyo_aist/hokuyo_aist. h

[<gb...@us...>]

Revision: 255
          http://gearbox.svn.sourceforge.net/gearbox/?rev=255&view=rev
Author:   gbiggs
Date:     2008-07-02 19:01:02 -0700 (Wed, 02 Jul 2008)

Log Message:
-----------
Added a note about MD/ME commands turning the laser off

Modified Paths:
--------------
    gearbox/trunk/submitted/hokuyo_aist/hokuyo_aist.h

Modified: gearbox/trunk/submitted/hokuyo_aist/hokuyo_aist.h
===================================================================
--- gearbox/trunk/submitted/hokuyo_aist/hokuyo_aist.h	2008-07-03 01:58:41 UTC (rev 254)
+++ gearbox/trunk/submitted/hokuyo_aist/hokuyo_aist.h	2008-07-03 02:01:02 UTC (rev 255)
@@ -389,9 +389,15 @@
 		Unlike @ref GetRanges, which returns the most recent scan the scanner took, this function
 		will request a new scan. This means it will wait while the scanner performs the scan.
 		Otherwise behaves identicallty to @ref GetRanges.
-
+		
 		Not available with the SCIP v1 protocol.
 
+		@note The command used to retrieve a fresh scan is also used for the continuous scanning
+		mode (not yet supported by this library). After completing a scan, it will turn the laser
+		off (in anticipation of another continuous scan command being sent, which will automatically
+		turn the laser back on again). If you want to mix @ref GetNewRanges and @ref GetRanges, you
+		will need to turn the laser on after each call to @ref GetNewRanges.
+
 		@param data Pointer to a @ref HokuyoData object to store the range readings in.
 		@param clusterCount The number of readings to cluster together into a single reading. The
 		minimum value from a cluster is returned as the range for that cluster.
@@ -424,6 +430,12 @@
 
 		Not available with the SCIP v1 protocol.
 
+		@note The command used to retrieve a fresh scan is also used for the continuous scanning
+		mode (not yet supported by this library). After completing a scan, it will turn the laser
+		off (in anticipation of another continuous scan command being sent, which will automatically
+		turn the laser back on again). If you want to mix @ref GetNewRanges and @ref GetRanges, you
+		will need to turn the laser on after each call to @ref GetNewRanges.
+
 		@param data Pointer to a @ref HokuyoData object to store the range readings in.
 		@param clusterCount The number of readings to cluster together into a single reading. The
 		minimum value from a cluster is returned as the range for that cluster.


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