Package ftclib.archive

Class FtcMRI2cRangeSensor

java.lang.Object

trclib.robotcore.TrcSerialBusDevice

ftclib.robotcore.FtcI2cDevice

ftclib.archive.FtcMRI2cDevice

ftclib.archive.FtcMRI2cRangeSensor

All Implemented Interfaces:

TrcSensor.DataSource<FtcMRI2cRangeSensor.DataType>

public class FtcMRI2cRangeSensor
extends FtcMRI2cDevice
implements TrcSensor.DataSource<FtcMRI2cRangeSensor.DataType>

This class implements the Modern Robotics Range Sensor extending FtcMRI2cDevice that implements the common features of all Modern Robotics I2C devices.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	FtcMRI2cRangeSensor.DataType

Nested classes/interfaces inherited from class trclib.robotcore.TrcSerialBusDevice

TrcSerialBusDevice.Request

Field Summary

Fields

Modifier and Type	Field	Description
static final int	DEF_I2CADDRESS
private static final int	READ_END
private static final int	READ_LENGTH
private static final int	READ_START
private static final int	REG_OPTICAL_DISTANCE
private static final int	REG_ULTRSONIC_DISTANCE

Fields inherited from class ftclib.archive.FtcMRI2cDevice

MANUFACTURER_CODE, REG_COMMAND, REG_FIRMWARE_REVISION, REG_ID_CODE, REG_MANUFACTURER_CODE, REG_SET_I2C_ADDRESS

Fields inherited from class ftclib.robotcore.FtcI2cDevice

deviceSynch

Fields inherited from class trclib.robotcore.TrcSerialBusDevice

instanceName, tracer

Constructor Summary

Constructors

Constructor	Description
FtcMRI2cRangeSensor(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, String instanceName, int i2cAddress, boolean addressIs7Bit)	Constructor: Creates an instance of the object.
FtcMRI2cRangeSensor(String instanceName)	Constructor: Creates an instance of the object.
FtcMRI2cRangeSensor(String instanceName, int i2cAddress, boolean addressIs7Bit)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
TrcSensor.SensorData<Double>	getOpticalDistance()	This method returns the optical distance.
TrcSensor.SensorData<Double>	getRawData(int index, FtcMRI2cRangeSensor.DataType dataType)	This method returns the sensor data of the specified index.
TrcSensor.SensorData<Double>	getUltrasonicDistance()	This method returns the ultrasonic distance.

Methods inherited from class ftclib.archive.FtcMRI2cDevice

changeI2cAddress, changeI2cAddress, getFirmwareRevision, getIdCode, getManufacturerCode

Methods inherited from class ftclib.robotcore.FtcI2cDevice

readData, writeData

Methods inherited from class trclib.robotcore.TrcSerialBusDevice

asyncRead, asyncRead, asyncRead, asyncRead, asyncRead, asyncWrite, asyncWrite, asyncWrite, isEnabled, preemptiveWrite, sendByteCommand, sendWordCommand, setEnabled, syncRead, syncRead, syncWrite, syncWrite, toString

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

DEF_I2CADDRESS

public static final int DEF_I2CADDRESS

See Also:

• Constant Field Values

REG_ULTRSONIC_DISTANCE

private static final int REG_ULTRSONIC_DISTANCE

See Also:

• Constant Field Values

REG_OPTICAL_DISTANCE

private static final int REG_OPTICAL_DISTANCE

See Also:

• Constant Field Values

READ_START

private static final int READ_START

See Also:

• Constant Field Values

READ_END

private static final int READ_END

See Also:

• Constant Field Values

READ_LENGTH

private static final int READ_LENGTH

See Also:

• Constant Field Values

Constructor Details

FtcMRI2cRangeSensor

public FtcMRI2cRangeSensor(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
 String instanceName,
 int i2cAddress,
 boolean addressIs7Bit)

Constructor: Creates an instance of the object.

Parameters:

hardwareMap - specifies the global hardware map.

instanceName - specifies the instance name.

i2cAddress - specifies the I2C address of the device.

addressIs7Bit - specifies true if the I2C address is a 7-bit address, false if it is 8-bit.

FtcMRI2cRangeSensor

public FtcMRI2cRangeSensor(String instanceName,
 int i2cAddress,
 boolean addressIs7Bit)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

i2cAddress - specifies the I2C address of the device.

addressIs7Bit - specifies true if the I2C address is a 7-bit address, false if it is 8-bit.

FtcMRI2cRangeSensor

public FtcMRI2cRangeSensor(String instanceName)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

Method Details

getUltrasonicDistance

public TrcSensor.SensorData<Double> getUltrasonicDistance()

This method returns the ultrasonic distance.

Returns:

ultrasonic distance.

getOpticalDistance

public TrcSensor.SensorData<Double> getOpticalDistance()

This method returns the optical distance.

Returns:

optical distance.

getRawData

public TrcSensor.SensorData<Double> getRawData(int index,
 FtcMRI2cRangeSensor.DataType dataType)

This method returns the sensor data of the specified index.

Specified by:

getRawData in interface TrcSensor.DataSource<FtcMRI2cRangeSensor.DataType>

Parameters:

index - specifies the data index.

dataType - specifies the data type.

Returns:

sensor data of the specified index and type.