AForge.Robotics.Surveyor.SRV1.UltrasonicPing C# (CSharp) Method

        public float[] UltrasonicPing( )
        {
            byte[] response = new byte[100];

            int    read = SendAndReceive( new byte[] { (byte) 'p' }, response );
            string str = System.Text.ASCIIEncoding.ASCII.GetString( response, 0, read );

            str = str.Replace( "##ping ", "" );
            str = str.Trim( );

            // split string into separate values
            string[] strs = str.Split( ' ' );

            try
            {
                float[] distance = new float[4];

                for ( int i = 0; i < 4; i++ )
                {
                    distance[i] = (float) int.Parse( strs[i] ) / 100f;
                }

                return distance;
            }
            catch
            {
                throw new ApplicationException( "Failed parsing response from SRV-1." );
            }
        }