frc.team670.robot.dataCollection.sensors

Class DIOUltrasonic

java.lang.Object

frc.team670.robot.dataCollection.sensors.DIOUltrasonic

public class DIOUltrasonic
extends java.lang.Object

import com.pi4j.io.gpio.*; ^ importing this would be useful

Field Summary

Fields

Modifier and Type	Field and Description
static double	ULTRASONIC_ERROR_CODE

Constructor Summary

Constructors

Constructor and Description
DIOUltrasonic(int tPin, int ePin, double horizontalOffset)

Method Summary

Modifier and Type	Method and Description
double	getDistance() Gets the ultrasonic distance in inches adjusted for the angle to target and offset of the ultrasonic from the center of the robot.
double	getUnadjustedDistance() Gets the ultrasonic distance unadjusted for offset and angle to target
void	setUltrasonicAutomaticMode(boolean automaticMode)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

ULTRASONIC_ERROR_CODE

public static final double ULTRASONIC_ERROR_CODE

See Also:

Constant Field Values

Constructor Detail

DIOUltrasonic

public DIOUltrasonic(int tPin,
                     int ePin,
                     double horizontalOffset)

Parameters:

horizontalOffset - horizontal offset from the center of the robot on the side it is on. Left is negative, right is positive.

Method Detail

getDistance

public double getDistance()

Gets the ultrasonic distance in inches adjusted for the angle to target and offset of the ultrasonic from the center of the robot.

Parameters:

angle - The angle to the target from the robot.

getUnadjustedDistance

public double getUnadjustedDistance()

Gets the ultrasonic distance unadjusted for offset and angle to target

setUltrasonicAutomaticMode

public void setUltrasonicAutomaticMode(boolean automaticMode)