Package org.wildstang.hardware.roborio.inputs

Class WsLidarSensor

java.lang.Object

org.wildstang.framework.io.inputs.Input

org.wildstang.framework.io.inputs.I2CInput

org.wildstang.hardware.roborio.inputs.WsI2CInput

org.wildstang.hardware.roborio.inputs.WsContinuousI2CInput

org.wildstang.hardware.roborio.inputs.WsLidarSensor

public class WsLidarSensor
extends WsContinuousI2CInput

Reads a LIDAR sensor.

Field Summary

Fields inherited from class org.wildstang.hardware.roborio.inputs.WsContinuousI2CInput

currentValue

Fields inherited from class org.wildstang.hardware.roborio.inputs.WsI2CInput

i2c

Constructor Summary

Constructors

Constructor	Description
WsLidarSensor(String name, edu.wpi.first.wpilibj.I2C.Port port, int p_address, int updateInterval)	Construct the sensor.

Method Summary

Modifier and Type	Method	Description
int	getDistance()	Returns 0.
int	getIntValue()	Returns a single integer value.
int	getSmoothedDistance()	Returns the average of the last 5 readings.
void	updateSensor()	Reads and calculates the distance.

Methods inherited from class org.wildstang.hardware.roborio.inputs.WsContinuousI2CInput

readRawValue, start, stop

Methods inherited from class org.wildstang.framework.io.inputs.I2CInput

getValue, readDataFromInput, setValue

Methods inherited from class org.wildstang.framework.io.inputs.Input

addInputListener, disable, enable, getInputListeners, getName, hasValueChanged, isEnabled, notifyListeners, removeAllListeners, removeInputListener, setValueChanged, update

Methods inherited from class java.lang.Object

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

Constructor Details

WsLidarSensor

public WsLidarSensor(String name,
 edu.wpi.first.wpilibj.I2C.Port port,
 int p_address,
 int updateInterval)

Construct the sensor.

Parameters:

name - Descriptive name of the axis.

port - I2C port the sensor is connected to.

p_address - I2C address of the sensor.

updateInterval - Interval at which to fetch a value from the sensor.

Method Details

getIntValue

public int getIntValue()

Returns a single integer value.

Overrides:

getIntValue in class WsContinuousI2CInput

Returns:

Int representation of latest sensor reading.

getDistance

public int getDistance()

Returns 0.

Returns:

0.

getSmoothedDistance

public int getSmoothedDistance()

Returns the average of the last 5 readings.

Returns:

The rolling (5) average of the read distance.

updateSensor

public void updateSensor()

Reads and calculates the distance.