Package ftclib.sensor

Class FtcAccelerometer

java.lang.Object

trclib.sensor.TrcSensor<TrcAccelerometer.DataType>

trclib.sensor.TrcAccelerometer

ftclib.sensor.FtcAccelerometer

public class FtcAccelerometer
extends TrcAccelerometer

This class implements the platform dependent accelerometer extending TrcAccelerometer. It provides implementation of the abstract methods in TrcAccelerometer. It supports 3 axes: x, y and z. It provides acceleration data for all 3 axes. However, it doesn't provide any velocity or distance data.

Nested Class Summary

Nested classes/interfaces inherited from class trclib.sensor.TrcAccelerometer

TrcAccelerometer.DataType

Nested classes/interfaces inherited from class trclib.sensor.TrcSensor

TrcSensor.DataSource<D>, TrcSensor.SensorData<T>

Field Summary

Fields

Modifier and Type	Field	Description
private final com.qualcomm.robotcore.hardware.AccelerationSensor	accel

Fields inherited from class trclib.sensor.TrcAccelerometer

ACCEL_DOUBLE_INTEGRATE, ACCEL_HAS_X_AXIS, ACCEL_HAS_Y_AXIS, ACCEL_HAS_Z_AXIS, ACCEL_INTEGRATE, instanceName

Fields inherited from class trclib.sensor.TrcSensor

tracer

Constructor Summary

Constructors

Constructor	Description
FtcAccelerometer(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, String instanceName, TrcFilter[] filters)	Constructor: Creates an instance of the object.
FtcAccelerometer(String instanceName)	Constructor: Creates an instance of the object.
FtcAccelerometer(String instanceName, TrcFilter[] filters)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	calibrate()	This method calibrates the sensor.
TrcSensor.SensorData<Double>	getRawXData(TrcAccelerometer.DataType dataType)	This method returns the raw data of the specified type for the x-axis.
TrcSensor.SensorData<Double>	getRawYData(TrcAccelerometer.DataType dataType)	This method returns the raw data of the specified type for the y-axis.
TrcSensor.SensorData<Double>	getRawZData(TrcAccelerometer.DataType dataType)	This method returns the raw data of the specified type for the z-axis.

Methods inherited from class trclib.sensor.TrcAccelerometer

getRawData, getXAcceleration, getXDistance, getXVelocity, getYAcceleration, getYDistance, getYVelocity, getZAcceleration, getZDistance, getZVelocity, printElapsedTime, resetXIntegrator, resetYIntegrator, resetZIntegrator, setElapsedTimerEnabled, setEnabled, setXInverted, setXScale, setYInverted, setYScale, setZInverted, setZScale, toString

Methods inherited from class trclib.sensor.TrcSensor

calibrate, calibrate, getNumAxes, getProcessedData, isCalibrating, setInverted, setScale, setScaleAndOffset

Methods inherited from class java.lang.Object

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

Field Details

accel

private final com.qualcomm.robotcore.hardware.AccelerationSensor accel

Constructor Details

FtcAccelerometer

public FtcAccelerometer(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
 String instanceName,
 TrcFilter[] filters)

Constructor: Creates an instance of the object.

Parameters:

hardwareMap - specifies the global hardware map.

instanceName - specifies the instance name.

filters - specifies an array of filters to use for filtering sensor noise, one for each axis. Since we have 3 axes, the array should have 3 elements. If no filters are used, it can be set to null.

FtcAccelerometer

public FtcAccelerometer(String instanceName,
 TrcFilter[] filters)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

filters - specifies an array of filters to use for filtering sensor noise, one for each axis. Since we have 3 axes, the array should have 3 elements. If no filters are used, it can be set to null.

FtcAccelerometer

public FtcAccelerometer(String instanceName)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

Method Details

calibrate

public void calibrate()

This method calibrates the sensor.

getRawXData

public TrcSensor.SensorData<Double> getRawXData(TrcAccelerometer.DataType dataType)

This method returns the raw data of the specified type for the x-axis.

Specified by:

getRawXData in class TrcAccelerometer

Parameters:

dataType - specifies the data type.

Returns:

raw data of the specified type for the x-axis.

getRawYData

public TrcSensor.SensorData<Double> getRawYData(TrcAccelerometer.DataType dataType)

This method returns the raw data of the specified type for the y-axis.

Specified by:

getRawYData in class TrcAccelerometer

Parameters:

dataType - specifies the data type.

Returns:

raw data of the specified type for the y-axis.

getRawZData

public TrcSensor.SensorData<Double> getRawZData(TrcAccelerometer.DataType dataType)

This method returns the raw data of the specified type for the z-axis.

Specified by:

getRawZData in class TrcAccelerometer

Parameters:

dataType - specifies the data type.

Returns:

raw data of the specified type for the z-axis.