89 lines
3.9 KiB
Java
89 lines
3.9 KiB
Java
/* Copyright (c) 2017 FIRST. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted (subject to the limitations in the disclaimer below) provided that
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* the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright notice, this list
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* of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright notice, this
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* list of conditions and the following disclaimer in the documentation and/or
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* other materials provided with the distribution.
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*
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* Neither the name of FIRST nor the names of its contributors may be used to endorse or
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* promote products derived from this software without specific prior written permission.
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*
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* NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
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* LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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package org.firstinspires.ftc.robotcontroller.external.samples;
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import com.qualcomm.robotcore.eventloop.opmode.Disabled;
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import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
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import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
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import com.qualcomm.robotcore.hardware.DigitalChannel;
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/*
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* This is an example LinearOpMode that shows how to use
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* a REV Robotics Touch Sensor.
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*
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* It assumes that the touch sensor is configured with a name of "sensor_digital".
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*
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* Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
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* Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list.
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*/
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@TeleOp(name = "Sensor: Digital touch", group = "Sensor")
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@Disabled
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public class SensorDigitalTouch extends LinearOpMode {
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/**
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* The REV Robotics Touch Sensor
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* is treated as a digital channel. It is HIGH if the button is unpressed.
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* It pulls LOW if the button is pressed.
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*
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* Also, when you connect a REV Robotics Touch Sensor to the digital I/O port on the
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* Expansion Hub using a 4-wire JST cable, the second pin gets connected to the Touch Sensor.
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* The lower (first) pin stays unconnected.*
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*/
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DigitalChannel digitalTouch; // Hardware Device Object
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@Override
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public void runOpMode() {
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// get a reference to our digitalTouch object.
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digitalTouch = hardwareMap.get(DigitalChannel.class, "sensor_digital");
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// set the digital channel to input.
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digitalTouch.setMode(DigitalChannel.Mode.INPUT);
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// wait for the start button to be pressed.
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waitForStart();
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// while the op mode is active, loop and read the light levels.
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// Note we use opModeIsActive() as our loop condition because it is an interruptible method.
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while (opModeIsActive()) {
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// send the info back to driver station using telemetry function.
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// if the digital channel returns true it's HIGH and the button is unpressed.
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if (digitalTouch.getState() == true) {
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telemetry.addData("Digital Touch", "Is Not Pressed");
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} else {
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telemetry.addData("Digital Touch", "Is Pressed");
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}
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telemetry.update();
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}
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}
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}
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