LEGO NXT Ultrasonic Sensor (9846)

General

This sensor uses the msensor device class.

	Value
type_id	5
# Modes	5
Connection	I2C/M
Vendor ID	LEGO
Product ID	Sonar

Modes

	Mode 0	Mode 1	Mode 2	Mode 3	Mode 4
mode	NXT-US-CM	NXT-US-IN	NXT-US-SI-CM	NXT-US-SI-IN	NXT-US-LIST
Description	Continuous measurement	Continuous measurement	Single measurement	Single measurement	Listen
num_values	1	1	1	1	1
value0	Distance	Distance	Distance1	Distance1	Presence of another ultrasonic sensor
Min	0 (0.0 cm)	0 (0.0 in)	0 (0.0 cm)	0 (0.0 in)	0 (no other sensors detected)
Max	255 (255.0 cm)	1000 (100.0 in)	255 (255.0 cm)	1000 (100.0 in)	1 (another ultrasonic sensor was detected)
units	cm (centimeters)	in (inches)	cm (centimeters)	in (inches)	none
dp (decimal places)	0	1	0	1	0

Values in the tables that look like ```this``` are the names of sysfs attributes or values returned by said attributes.

[1]: The value is read when the mode is set and does not change - even when polling is enabled. To read a new value, set the mode again (e.g. echo NXT-US-SI-CM > mode).