/**
* Background task that goes through the list of ultrasonic sensors and pings each one in turn. The counter
* is configured to read the timing of the returned echo pulse.
*
* DANGER WILL ROBINSON, DANGER WILL ROBINSON:
* This code runs as a task and assumes that none of the ultrasonic sensors will change while it's
* running. If one does, then this will certainly break. Make sure to disable automatic mode before changing
* anything with the sensors!!
*/
void Ultrasonic::UltrasonicChecker()
{
Ultrasonic *u = NULL;
while (m_automaticEnabled)
{
if (u == NULL) u = m_firstSensor;
if (u == NULL) return;
if (u->IsEnabled())
u->m_pingChannel->Pulse(kPingTime); // do the ping
u = u->m_nextSensor;
Wait(0.1); // wait for ping to return
}
}
