com.qualcomm.hardware.hitechnic

Class HiTechnicNxtUltrasonicSensor

java.lang.Object

com.qualcomm.robotcore.hardware.LegacyModulePortDeviceImpl

com.qualcomm.hardware.hitechnic.HiTechnicNxtUltrasonicSensor

All Implemented Interfaces:

DistanceSensor, HardwareDevice, I2cController.I2cPortReadyCallback, LegacyModulePortDevice, UltrasonicSensor, RobotArmingStateNotifier.Callback

public class HiTechnicNxtUltrasonicSensor
extends LegacyModulePortDeviceImpl
implements UltrasonicSensor, DistanceSensor, I2cController.I2cPortReadyCallback

Ultrasonic Sensor

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
static int	ADDRESS_DISTANCE
protected static int	cmUltrasonicMax
static I2cAddr	I2C_ADDRESS
static int	MAX_PORT
static int	MIN_PORT

Fields inherited from class com.qualcomm.robotcore.hardware.LegacyModulePortDeviceImpl

module, physicalPort

Fields inherited from interface com.qualcomm.robotcore.hardware.DistanceSensor

distanceOutOfRange

Constructor Summary

Constructors

Constructor and Description
HiTechnicNxtUltrasonicSensor(ModernRoboticsUsbLegacyModule legacyModule, int physicalPort)

Method Summary

Modifier and Type	Method and Description
void	close() Closes this device
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
double	getDistance(DistanceUnit unit) Returns the current distance in the indicated distance units
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
double	getUltrasonicLevel() Get the Ultrasonic levels from this sensor
int	getVersion() Version
protected void	moduleNowArmedOrPretending() intended as a subclass hook
void	portIsReady(int port)
protected byte	rawUltrasonic()
void	resetDeviceConfigurationForOpMode() Resets the device's configuration to that which is expected at the beginning of an OpMode.
java.lang.String	status() Status of this sensor, in string form
java.lang.String	toString()

Methods inherited from class com.qualcomm.robotcore.hardware.LegacyModulePortDeviceImpl

finishConstruction, getLegacyModule, getPort, moduleNowDisarmed, onModuleStateChange

Methods inherited from class java.lang.Object

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

Field Detail

I2C_ADDRESS

public static final I2cAddr I2C_ADDRESS

ADDRESS_DISTANCE

public static final int ADDRESS_DISTANCE

See Also:

Constant Field Values

MAX_PORT

public static final int MAX_PORT

See Also:

Constant Field Values

MIN_PORT

public static final int MIN_PORT

See Also:

Constant Field Values

cmUltrasonicMax

protected static final int cmUltrasonicMax

See Also:

Constant Field Values

Constructor Detail

HiTechnicNxtUltrasonicSensor

public HiTechnicNxtUltrasonicSensor(ModernRoboticsUsbLegacyModule legacyModule,
                                    int physicalPort)

Method Detail

moduleNowArmedOrPretending

protected void moduleNowArmedOrPretending()

Description copied from class: LegacyModulePortDeviceImpl

intended as a subclass hook

Overrides:

moduleNowArmedOrPretending in class LegacyModulePortDeviceImpl

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

rawUltrasonic

protected byte rawUltrasonic()

getUltrasonicLevel

public double getUltrasonicLevel()

Description copied from interface: UltrasonicSensor

Get the Ultrasonic levels from this sensor

Specified by:

getUltrasonicLevel in interface UltrasonicSensor

Returns:

ultrasonic levels

getDistance

public double getDistance(DistanceUnit unit)

Description copied from interface: DistanceSensor

Returns the current distance in the indicated distance units

Specified by:

getDistance in interface DistanceSensor

Parameters:

unit - the unit of distance in which the result should be returned

Returns:

the current distance sas measured by the sensor. If no reading is available (perhaps the sensor is out of range), then DistanceSensor.distanceOutOfRange is returned;

portIsReady

public void portIsReady(int port)

Specified by:

portIsReady in interface I2cController.I2cPortReadyCallback

status

public java.lang.String status()

Description copied from interface: UltrasonicSensor

Status of this sensor, in string form

Specified by:

status in interface UltrasonicSensor

Returns:

status

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

Description copied from interface: HardwareDevice

Resets the device's configuration to that which is expected at the beginning of an OpMode. For example, motors will reset the their direction to 'forward'.

Specified by:

resetDeviceConfigurationForOpMode in interface HardwareDevice

close

public void close()

Description copied from interface: HardwareDevice

Closes this device

Specified by:

close in interface HardwareDevice