Package trclib.sensor

Class TrcMaxbotixSonarArray

java.lang.Object

trclib.sensor.TrcMaxbotixSonarArray

public class TrcMaxbotixSonarArray
extends Object

This class implements a platform independent Maxbotix ultrasonic sensor array. The ultrasonic sensors in the array are connected in analog chain mode where only one sensor will ping at a time to eliminate cross talk. This class supports both regular chain config and loop chain config. ...

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
(package private) static enum	TrcMaxbotixSonarArray.State

Field Summary

Fields

Modifier and Type	Field	Description
private boolean	autoRepeat
private final TrcEvent	event
private final String	instanceName
private final boolean	loopConfig
private static final double	RANGING_PERIOD
private static final double	RANGING_START_PULSE_WIDTH
private boolean	rangingStarted
private final TrcTaskMgr.TaskObject	rangingTaskObj
private final TrcDigitalOutput	rx
private final TrcAnalogInput[]	sensors
private final TrcStateMachine<TrcMaxbotixSonarArray.State>	sm
private final TrcTimer	timer
private final TrcDbgTrace	tracer

Constructor Summary

Constructors

Constructor	Description
TrcMaxbotixSonarArray(String instanceName, TrcAnalogInput[] sensors, TrcDigitalOutput rx)	Constructor: Creates an instance of the object.
TrcMaxbotixSonarArray(String instanceName, TrcAnalogInput[] sensors, TrcDigitalOutput rx, boolean loopConfig)	Constructor: Creates an instance of the object.
TrcMaxbotixSonarArray(String instanceName, TrcAnalogInput sensor, TrcDigitalOutput rx)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
TrcSensor.SensorData<Double>	getDistance(int sensorIndex)	This method returns the distance data of the specifies sensor index.
boolean	isRanging()	This method checks if the sonar array is ranging.
private void	rangingTask(TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop)	This method is called periodically to run the state machine that generates the RX pulse for ranging.
private void	setTaskEnabled(boolean enabled)	This method is called to start the task that generates the RX pulse for ranging to start.
void	startRanging()	This method is called to start the ranging cycle.
void	startRanging(boolean autoRepeat)	This method is called to start the ranging cycle.
void	stopRanging()	This method is called to stop the ranging cycle.
String	toString()	This method returns the instance name.

Methods inherited from class java.lang.Object

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

Field Details

RANGING_START_PULSE_WIDTH

private static final double RANGING_START_PULSE_WIDTH

See Also:

• Constant Field Values

RANGING_PERIOD

private static final double RANGING_PERIOD

See Also:

• Constant Field Values

tracer

private final TrcDbgTrace tracer

instanceName

private final String instanceName

sensors

private final TrcAnalogInput[] sensors

rx

private final TrcDigitalOutput rx

loopConfig

private final boolean loopConfig

rangingTaskObj

private final TrcTaskMgr.TaskObject rangingTaskObj

sm

private final TrcStateMachine<TrcMaxbotixSonarArray.State> sm

timer

private final TrcTimer timer

event

private final TrcEvent event

autoRepeat

private boolean autoRepeat

rangingStarted

private boolean rangingStarted

Constructor Details

TrcMaxbotixSonarArray

public TrcMaxbotixSonarArray(String instanceName,
 TrcAnalogInput[] sensors,
 TrcDigitalOutput rx,
 boolean loopConfig)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

sensors - specifies an array of Maxbotix ultrasonic sensors.

rx - specifies the digital output channel the RX pin is connected to.

loopConfig - specifies true if the sensor array is wired in loop configuration, false otherwise.

TrcMaxbotixSonarArray

public TrcMaxbotixSonarArray(String instanceName,
 TrcAnalogInput[] sensors,
 TrcDigitalOutput rx)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

sensors - specifies an array of Maxbotix ultrasonic sensors.

rx - specifies the digital output channel the RX pin is connected to.

TrcMaxbotixSonarArray

public TrcMaxbotixSonarArray(String instanceName,
 TrcAnalogInput sensor,
 TrcDigitalOutput rx)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

sensor - specifies a single Maxbotix ultrasonic sensor.

rx - specifies the digital output channel the RX pin is connected to.

Method Details

toString

public String toString()

This method returns the instance name.

Overrides:

toString in class Object

Returns:

instance name.

isRanging

public boolean isRanging()

This method checks if the sonar array is ranging.

Returns:

true if the sonar array is ranging, false otherwise.

startRanging

public void startRanging(boolean autoRepeat)

This method is called to start the ranging cycle.

Parameters:

autoRepeat - specifies true to auto repeat the ranging cycle, false otherwise. autoRepeat is ignored if the array is wired in loop config because it is already in continuous ranging mode.

startRanging

public void startRanging()

This method is called to start the ranging cycle.

stopRanging

public void stopRanging()

This method is called to stop the ranging cycle. Ranging cycle can only be stopped if it is not wired in loop config and was set to autoRepeat mode. If the sensor array is wired in loop config, the only way to stop ranging is to remove power.

getDistance

public TrcSensor.SensorData<Double> getDistance(int sensorIndex)

This method returns the distance data of the specifies sensor index.

Parameters:

sensorIndex - specifies the index of the ultrasonic sensor to read its distance data.

Returns:

distance data of the specified sensor.

setTaskEnabled

private void setTaskEnabled(boolean enabled)

This method is called to start the task that generates the RX pulse for ranging to start.

Parameters:

enabled - specifies true to start the task, false otherwise.

rangingTask

private void rangingTask(TrcTaskMgr.TaskType taskType,
 TrcRobot.RunMode runMode,
 boolean slowPeriodicLoop)

This method is called periodically to run the state machine that generates the RX pulse for ranging.

Parameters:

taskType - specifies the type of task being run.

runMode - specifies the competition mode that is running. (e.g. Autonomous, TeleOp, Test).

slowPeriodicLoop - specifies true if it is running the slow periodic loop on the main robot thread, false otherwise.