73 lines
3.3 KiB
Java
73 lines
3.3 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.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;
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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 org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
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/**
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* {@link SensorMRRangeSensor} illustrates how to use the Modern Robotics
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* Range Sensor.
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*
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* The op mode assumes that the range sensor is configured with a name of "sensor_range".
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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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* @see <a href="http://modernroboticsinc.com/range-sensor">MR Range Sensor</a>
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*/
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@TeleOp(name = "Sensor: MR range sensor", group = "Sensor")
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@Disabled // comment out or remove this line to enable this opmode
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public class SensorMRRangeSensor extends LinearOpMode {
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ModernRoboticsI2cRangeSensor rangeSensor;
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@Override public void runOpMode() {
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// get a reference to our compass
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rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "sensor_range");
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// wait for the start button to be pressed
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waitForStart();
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while (opModeIsActive()) {
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telemetry.addData("raw ultrasonic", rangeSensor.rawUltrasonic());
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telemetry.addData("raw optical", rangeSensor.rawOptical());
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telemetry.addData("cm optical", "%.2f cm", rangeSensor.cmOptical());
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telemetry.addData("cm", "%.2f cm", rangeSensor.getDistance(DistanceUnit.CM));
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telemetry.update();
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}
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}
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}
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