Package ftclib.archive

Class FtcZXDistanceSensor

java.lang.Object

trclib.robotcore.TrcSerialBusDevice

ftclib.robotcore.FtcI2cDevice

ftclib.archive.FtcZXDistanceSensor

All Implemented Interfaces:

TrcSensor.DataSource<FtcZXDistanceSensor.DataType>

public class FtcZXDistanceSensor
extends FtcI2cDevice
implements TrcSensor.DataSource<FtcZXDistanceSensor.DataType>

This class implements the ZX Distance sensor extending FtcI2cDevice.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	FtcZXDistanceSensor.DataType
static enum	FtcZXDistanceSensor.Gesture	Specifies the various detected gestures.

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

TrcSerialBusDevice.Request

Field Summary

Fields

Modifier and Type	Field	Description
static final int	ALTERNATE_I2CADDRESS
static final int	DEF_I2CADDRESS
private static final int	DRCFG_EDGE
private static final int	DRCFG_EN
private static final int	DRCFG_FORCE
private static final int	DRCFG_POLARITY
private static final int	DRE_ALL
private static final int	DRE_CRD
private static final int	DRE_EDGE
private static final int	DRE_HOVER
private static final int	DRE_HVG
private static final int	DRE_RNG
private static final int	DRE_SWP
private final TrcSensor.SensorData<FtcZXDistanceSensor.Gesture>	gesture
private static final int	GESTURE_HOVER
private static final int	GESTURE_HOVER_LEFT
private static final int	GESTURE_HOVER_RIGHT
private static final int	GESTURE_HOVER_UP
private static final int	GESTURE_LEFT_SWIPE
private static final int	GESTURE_NONE
private static final int	GESTURE_RIGHT_SWIPE
private static final int	GESTURE_UP_SWIPE
private final TrcSensor.SensorData<Double>	gestureSpeed
private final TrcSensor.SensorData<Double>	leftRangingData
private static final int	MAX_XPOSITION
private static final int	MAX_ZPOSITION
static final int	MODEL_VERSION
private final int	modelVersion
private static final int	READ_LENGTH
private static final int	REG_DCM
private static final int	REG_DRCFG
private static final int	REG_DRE
private static final int	REG_GESTURE
private static final int	REG_GSPEED
private static final int	REG_LRNG
private static final int	REG_MODEL
private static final int	REG_REGVER
private static final int	REG_RRNG
private static final int	REG_STATUS
private static final int	REG_XPOS
private static final int	REG_ZPOS
static final int	REGISTERMAP_VERSION
private final int	regMapVersion
private final TrcSensor.SensorData<Double>	rightRangingData
static final int	STATUS_DAV
static final int	STATUS_EDGE
static final int	STATUS_GESTURES
static final int	STATUS_HB
static final int	STATUS_HOVER
static final int	STATUS_HVG
static final int	STATUS_OVF
static final int	STATUS_SWP
private final TrcSensor.SensorData<Double>	xPos
private final TrcSensor.SensorData<Double>	zPos

Fields inherited from class ftclib.robotcore.FtcI2cDevice

deviceSynch

Fields inherited from class trclib.robotcore.TrcSerialBusDevice

instanceName, tracer

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
TrcSensor.SensorData<FtcZXDistanceSensor.Gesture>	getGesture()	This method returns the detected gesture type.
TrcSensor.SensorData<Double>	getGestureSpeed()	This method returns the data from the Gesture Speed register.
TrcSensor.SensorData<Double>	getLeftRangingData()	This method returns the data from the Left Ranging Data register.
int	getModelVersion()	This method returns the data from the Model Version register.
TrcSensor.SensorData	getRawData(int index, FtcZXDistanceSensor.DataType dataType)	This method returns the sensor data of the specified index.
int	getRegMapVersion()	This method returns the data from the Register Map Version register.
TrcSensor.SensorData<Double>	getRightRangingData()	This method returns the data from the Right Ranging Data register.
int	getStatus()	This method returns the data from the Status register.
TrcSensor.SensorData<Double>	getX()	This method returns the data from teh X Position register.
TrcSensor.SensorData<Double>	getZ()	This method returns the data from teh Z Position register.

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

ALTERNATE_I2CADDRESS

public static final int ALTERNATE_I2CADDRESS

See Also:

• Constant Field Values

REG_STATUS

private static final int REG_STATUS

See Also:

• Constant Field Values

REG_DRE

private static final int REG_DRE

See Also:

• Constant Field Values

REG_DRCFG

private static final int REG_DRCFG

See Also:

• Constant Field Values

REG_GESTURE

private static final int REG_GESTURE

See Also:

• Constant Field Values

REG_GSPEED

private static final int REG_GSPEED

See Also:

• Constant Field Values

REG_DCM

private static final int REG_DCM

See Also:

• Constant Field Values

REG_XPOS

private static final int REG_XPOS

See Also:

• Constant Field Values

REG_ZPOS

private static final int REG_ZPOS

See Also:

• Constant Field Values

REG_LRNG

private static final int REG_LRNG

See Also:

• Constant Field Values

REG_RRNG

private static final int REG_RRNG

See Also:

• Constant Field Values

REG_REGVER

private static final int REG_REGVER

See Also:

• Constant Field Values

REG_MODEL

private static final int REG_MODEL

See Also:

• Constant Field Values

READ_LENGTH

private static final int READ_LENGTH

See Also:

• Constant Field Values

STATUS_DAV

public static final int STATUS_DAV

See Also:

• Constant Field Values

STATUS_OVF

public static final int STATUS_OVF

See Also:

• Constant Field Values

STATUS_SWP

public static final int STATUS_SWP

See Also:

• Constant Field Values

STATUS_HOVER

public static final int STATUS_HOVER

See Also:

• Constant Field Values

STATUS_HVG

public static final int STATUS_HVG

See Also:

• Constant Field Values

STATUS_EDGE

public static final int STATUS_EDGE

See Also:

• Constant Field Values

STATUS_HB

public static final int STATUS_HB

See Also:

• Constant Field Values

STATUS_GESTURES

public static final int STATUS_GESTURES

See Also:

• Constant Field Values

DRE_RNG

private static final int DRE_RNG

See Also:

• Constant Field Values

DRE_CRD

private static final int DRE_CRD

See Also:

• Constant Field Values

DRE_SWP

private static final int DRE_SWP

See Also:

• Constant Field Values

DRE_HOVER

private static final int DRE_HOVER

See Also:

• Constant Field Values

DRE_HVG

private static final int DRE_HVG

See Also:

• Constant Field Values

DRE_EDGE

private static final int DRE_EDGE

See Also:

• Constant Field Values

DRE_ALL

private static final int DRE_ALL

See Also:

• Constant Field Values

DRCFG_POLARITY

private static final int DRCFG_POLARITY

See Also:

• Constant Field Values

DRCFG_EDGE

private static final int DRCFG_EDGE

See Also:

• Constant Field Values

DRCFG_FORCE

private static final int DRCFG_FORCE

See Also:

• Constant Field Values

DRCFG_EN

private static final int DRCFG_EN

See Also:

• Constant Field Values

GESTURE_NONE

private static final int GESTURE_NONE

See Also:

• Constant Field Values

GESTURE_RIGHT_SWIPE

private static final int GESTURE_RIGHT_SWIPE

See Also:

• Constant Field Values

GESTURE_LEFT_SWIPE

private static final int GESTURE_LEFT_SWIPE

See Also:

• Constant Field Values

GESTURE_UP_SWIPE

private static final int GESTURE_UP_SWIPE

See Also:

• Constant Field Values

GESTURE_HOVER

private static final int GESTURE_HOVER

See Also:

• Constant Field Values

GESTURE_HOVER_LEFT

private static final int GESTURE_HOVER_LEFT

See Also:

• Constant Field Values

GESTURE_HOVER_RIGHT

private static final int GESTURE_HOVER_RIGHT

See Also:

• Constant Field Values

GESTURE_HOVER_UP

private static final int GESTURE_HOVER_UP

See Also:

• Constant Field Values

MAX_XPOSITION

private static final int MAX_XPOSITION

See Also:

• Constant Field Values

MAX_ZPOSITION

private static final int MAX_ZPOSITION

See Also:

• Constant Field Values

REGISTERMAP_VERSION

public static final int REGISTERMAP_VERSION

See Also:

• Constant Field Values

MODEL_VERSION

public static final int MODEL_VERSION

See Also:

• Constant Field Values

regMapVersion

private final int regMapVersion

modelVersion

private final int modelVersion

gesture

private final TrcSensor.SensorData<FtcZXDistanceSensor.Gesture> gesture

gestureSpeed

private final TrcSensor.SensorData<Double> gestureSpeed

xPos

private final TrcSensor.SensorData<Double> xPos

zPos

private final TrcSensor.SensorData<Double> zPos

leftRangingData

private final TrcSensor.SensorData<Double> leftRangingData

rightRangingData

private final TrcSensor.SensorData<Double> rightRangingData

Constructor Details

FtcZXDistanceSensor

public FtcZXDistanceSensor(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.

FtcZXDistanceSensor

public FtcZXDistanceSensor(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.

FtcZXDistanceSensor

public FtcZXDistanceSensor(String instanceName)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

Method Details

getStatus

public int getStatus()

This method returns the data from the Status register.

Returns:

status register data.

getGesture

public TrcSensor.SensorData<FtcZXDistanceSensor.Gesture> getGesture()

This method returns the detected gesture type.

Returns:

detected gesture type.

getGestureSpeed

public TrcSensor.SensorData<Double> getGestureSpeed()

This method returns the data from the Gesture Speed register.

Returns:

gesture speed.

getX

public TrcSensor.SensorData<Double> getX()

This method returns the data from teh X Position register.

Returns:

X position.

getZ

public TrcSensor.SensorData<Double> getZ()

This method returns the data from teh Z Position register.

Returns:

Z position.

getLeftRangingData

public TrcSensor.SensorData<Double> getLeftRangingData()

This method returns the data from the Left Ranging Data register.

Returns:

left ranging data.

getRightRangingData

public TrcSensor.SensorData<Double> getRightRangingData()

This method returns the data from the Right Ranging Data register.

Returns:

right ranging data.

getRegMapVersion

public int getRegMapVersion()

This method returns the data from the Register Map Version register.

Returns:

register map version.

getModelVersion

public int getModelVersion()

This method returns the data from the Model Version register.

Returns:

model version.

getRawData

public TrcSensor.SensorData getRawData(int index,
 FtcZXDistanceSensor.DataType dataType)

This method returns the sensor data of the specified index.

Specified by:

getRawData in interface TrcSensor.DataSource<FtcZXDistanceSensor.DataType>

Parameters:

index - specifies the data index.

dataType - specifies the data type.

Returns:

sensor data of the specified index and type.