MustangSensors

java.lang.Object
- frc.team670.robot.dataCollection.MustangSensors

```
public class MustangSensors
extends java.lang.Object
```
Instantiates sensor representation objects and contains methods for accessing the sensor data.

Author:

shaylandias

Field Summary

Fields
Modifier and Type Field and Description

static double NAVX_ERROR_CODE

static double ULTRASONIC_ERROR_CODE

Fields
Modifier and Type	Field and Description
`static double`	`NAVX_ERROR_CODE`
`static double`	`ULTRASONIC_ERROR_CODE`

Constructor Summary

Constructors
Constructor and Description

MustangSensors()

Constructors
Constructor and Description
`MustangSensors()`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`getAdjustedBackUltrasonicDistance()`
`double`	`getAngle()` Gets fieldcentric angle of navX
`double`	`getAngleToTarget()`
`double`	`getBackLeftUltrasonicDistance()`
`double`	`getBackLeftUltrasonicUnadjustedDistance()`
`double`	`getBackRightUltrasonicDistance()`
`double`	`getBackRightUltrasonicUnadjustedDistance()`
`double`	`getFieldCentricYaw()`
`double`	`getFrontUltrasonicDistance()`
`double`	`getFrontUltrasonicUnadjustedDistance()`
`boolean`	`getIntakeBeamBreakOutput()`
`boolean`	`getIntakeIROutput()` Returns true if object is within threshold and false if not
`NavX.NavX_Pitch_PIDSource`	`getNavXPitchPIDSource()` Returns a PIDSource with the NavX pitch.
`double`	`getPitchDouble()`
`Rotation`	`getRotationAngle()` Gets the Rotation for the Pure Pursuit drive.
`double`	`getYawDouble()` Returns the yaw of the robot as a double in accordance with its adjustment based on Robot starting position.
`double`	`getYawDoubleForPathfinder()` Gets the yaw for Pathfinder since it needs it mirrored from the normal way.
`double`	`getYawRateDegreesPerSecond()` Returns the rate of change of the yaw angle in degrees per second.
`NavX.ZeroableNavX_Yaw_PIDSource`	`getZeroableNavXPIDSource()` Returns a PIDSource with the NavX Yaw corresponding to the last zero (not field centric).
`boolean`	`isIntakeBeamBreakNull()`
`boolean`	`isIntakeIRSensorNull()` Returns the intake IR sensor
`boolean`	`isNavXNull()`
`void`	`resetNavX()` Resets the NavX.
`void`	`sendBreamBreakDataToDashboard()`
`void`	`sendUltrasonicDataToDashboard()`
`void`	`zeroYaw()` Adds a "user-offset" variable to the NavX, effectively zeroing the value you will receive at this point.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - NAVX_ERROR_CODE
```
public static final double NAVX_ERROR_CODE
```
    See Also:
    
    Constant Field Values
  - ULTRASONIC_ERROR_CODE
```
public static final double ULTRASONIC_ERROR_CODE
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - MustangSensors
```
public MustangSensors()
```
- Method Detail
  - getFrontUltrasonicUnadjustedDistance
```
public double getFrontUltrasonicUnadjustedDistance()
```
  - getFrontUltrasonicDistance
```
public double getFrontUltrasonicDistance()
```
  - getBackRightUltrasonicUnadjustedDistance
```
public double getBackRightUltrasonicUnadjustedDistance()
```
  - getBackRightUltrasonicDistance
```
public double getBackRightUltrasonicDistance()
```
  - getBackLeftUltrasonicUnadjustedDistance
```
public double getBackLeftUltrasonicUnadjustedDistance()
```
  - getBackLeftUltrasonicDistance
```
public double getBackLeftUltrasonicDistance()
```
  - getAdjustedBackUltrasonicDistance
```
public double getAdjustedBackUltrasonicDistance()
```
  - getRotationAngle
```
public Rotation getRotationAngle()
```
    Gets the Rotation for the Pure Pursuit drive. (-180, 180) with 90 being forward
  - resetNavX
```
public void resetNavX()
```
    Resets the NavX. This means that the NavX performs a shut-down and recalibration, taking time. Use this if it significantly drifs.
  - getYawRateDegreesPerSecond
```
public double getYawRateDegreesPerSecond()
```
    Returns the rate of change of the yaw angle in degrees per second. If NavX not connected, returns NAVX_ERROR_CODE.
  - getYawDouble
```
public double getYawDouble()
```
    Returns the yaw of the robot as a double in accordance with its adjustment based on Robot starting position. (-180, 180)
    
    Returns:
    
    The yaw of the robot if the navX is connected. Otherwise returns NAVX_ERROR_CODE
  - getPitchDouble
```
public double getPitchDouble()
```
  - getYawDoubleForPathfinder
```
public double getYawDoubleForPathfinder()
```
    Gets the yaw for Pathfinder since it needs it mirrored from the normal way. (180, -180). If NavX not connected, returns NAVX_ERROR_CODE
    
    Returns:
    
    Yaw as a double (180, -180)
  - zeroYaw
```
public void zeroYaw()
```
    Adds a "user-offset" variable to the NavX, effectively zeroing the value you will receive at this point.
  - getFieldCentricYaw
```
public double getFieldCentricYaw()
```
  - getAngle
```
public double getAngle()
```
    Gets fieldcentric angle of navX
  - getAngleToTarget
```
public double getAngleToTarget()
```
  - getZeroableNavXPIDSource
```
public NavX.ZeroableNavX_Yaw_PIDSource getZeroableNavXPIDSource()
```
    Returns a PIDSource with the NavX Yaw corresponding to the last zero (not field centric).
    
    Returns:
    
    Zeroable NavX Yaw Source, null if the navX could not be instantiated!
  - getNavXPitchPIDSource
```
public NavX.NavX_Pitch_PIDSource getNavXPitchPIDSource()
```
    Returns a PIDSource with the NavX pitch.
    
    Returns:
    
    NavX Pitch Source, null if the navX could not be instantiated!
  - getIntakeIROutput
```
public boolean getIntakeIROutput()
```
    Returns true if object is within threshold and false if not
  - getIntakeBeamBreakOutput
```
public boolean getIntakeBeamBreakOutput()
```
  - isIntakeIRSensorNull
```
public boolean isIntakeIRSensorNull()
```
    Returns the intake IR sensor
  - isIntakeBeamBreakNull
```
public boolean isIntakeBeamBreakNull()
```
  - isNavXNull
```
public boolean isNavXNull()
```
    Returns:
    
    true if NavX is null (could not be instantiated), false if you can call methods on the NavX
  - sendUltrasonicDataToDashboard
```
public void sendUltrasonicDataToDashboard()
```
  - sendBreamBreakDataToDashboard
```
public void sendBreamBreakDataToDashboard()
```

Class MustangSensors

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

NAVX_ERROR_CODE

ULTRASONIC_ERROR_CODE

Constructor Detail

MustangSensors

Method Detail

getFrontUltrasonicUnadjustedDistance

getFrontUltrasonicDistance

getBackRightUltrasonicUnadjustedDistance

getBackRightUltrasonicDistance

getBackLeftUltrasonicUnadjustedDistance

getBackLeftUltrasonicDistance

getAdjustedBackUltrasonicDistance

getRotationAngle

resetNavX

getYawRateDegreesPerSecond

getYawDouble

getPitchDouble

getYawDoubleForPathfinder

zeroYaw

getFieldCentricYaw

getAngle

getAngleToTarget

getZeroableNavXPIDSource

getNavXPitchPIDSource

getIntakeIROutput

getIntakeBeamBreakOutput

isIntakeIRSensorNull

isIntakeBeamBreakNull

isNavXNull

sendUltrasonicDataToDashboard

sendBreamBreakDataToDashboard