85 lines
3.3 KiB
Java
85 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.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.IrSeekerSensor;
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/*
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* This is an example LinearOpMode that shows how to use
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* the Modern Robotics ITR Seeker
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*
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* The op mode assumes that the IR Seeker
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* is configured with a name of "sensor_ir".
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*
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* Set the switch on the Modern Robotics IR beacon to 1200 at 180. <br>
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* Turn on the IR beacon.
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* Make sure the side of the beacon with the LED on is facing the robot. <br>
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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: MR IR Seeker", group = "Sensor")
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@Disabled
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public class SensorMRIrSeeker extends LinearOpMode {
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@Override
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public void runOpMode() {
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IrSeekerSensor irSeeker; // Hardware Device Object
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// get a reference to our GyroSensor object.
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irSeeker = hardwareMap.get(IrSeekerSensor.class, "sensor_ir");
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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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// Ensure we have a IR signal
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if (irSeeker.signalDetected())
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{
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// Display angle and strength
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telemetry.addData("Angle", irSeeker.getAngle());
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telemetry.addData("Strength", irSeeker.getStrength());
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}
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else
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{
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// Display loss of signal
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telemetry.addData("Seeker", "Signal Lost");
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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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