com.qualcomm.hardware.modernrobotics

Class ModernRoboticsI2cIrSeekerSensorV3

java.lang.Object

com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice<I2cDeviceSynch>

com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cIrSeekerSensorV3

All Implemented Interfaces:

HardwareDevice, I2cAddrConfig, I2cAddressableDevice, IrSeekerSensor, RobotArmingStateNotifier.Callback

public class ModernRoboticsI2cIrSeekerSensorV3
extends I2cDeviceSynchDevice<I2cDeviceSynch>
implements IrSeekerSensor, I2cAddrConfig

ModernRoboticsI2cIrSeekerSensorV3 supports the Modern Robotics IR Seeker V3.

See Also:

MR IR Seeker V3

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ModernRoboticsI2cIrSeekerSensorV3.Register

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

IrSeekerSensor.IrSeekerIndividualSensor, IrSeekerSensor.Mode

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

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
static I2cAddr	ADDRESS_I2C_DEFAULT
static double	MAX_SENSOR_STRENGTH
protected IrSeekerSensor.Mode	mode
protected double	signalDetectedThreshold

Fields inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

deviceClient, deviceClientIsOwned, isInitialized

Constructor Summary

Constructors

Constructor and Description
ModernRoboticsI2cIrSeekerSensorV3(I2cDeviceSynch deviceClient)

Method Summary

Modifier and Type	Method and Description
protected boolean	doInitialize() Actually carries out the initialization of the instance.
double	getAngle() Estimated angle in which the signal is coming from
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
I2cAddr	getI2cAddress() Get the current I2C Address of this object.
IrSeekerSensor.IrSeekerIndividualSensor[]	getIndividualSensors() Get a list of all IR sensors attached to this seeker.
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
IrSeekerSensor.Mode	getMode() Get the device mode
double	getSignalDetectedThreshold() Get the minimum threshold for a signal to be considered detected
double	getStrength() IR Signal strength
int	getVersion() Version
byte	read8(ModernRoboticsI2cIrSeekerSensorV3.Register reg)
protected short	readShort(ModernRoboticsI2cIrSeekerSensorV3.Register reg)
void	setI2cAddress(I2cAddr newAddress) Set the I2C address to a new value.
void	setMode(IrSeekerSensor.Mode mode) Set the device mode
protected void	setOptimalReadWindow()
void	setSignalDetectedThreshold(double threshold) Set the minimum threshold for a signal to be considered detected
boolean	signalDetected() Returns true if an IR signal is detected
java.lang.String	toString()
void	write8(ModernRoboticsI2cIrSeekerSensorV3.Register reg, byte value)

Methods inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

close, disengage, engage, getConnectionInfo, getDeviceClient, initialize, initializeIfNecessary, onModuleStateChange, registerArmingStateCallback, resetDeviceConfigurationForOpMode

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, resetDeviceConfigurationForOpMode

Field Detail

ADDRESS_I2C_DEFAULT

public static final I2cAddr ADDRESS_I2C_DEFAULT

MAX_SENSOR_STRENGTH

public static final double MAX_SENSOR_STRENGTH

See Also:

Constant Field Values

mode

protected IrSeekerSensor.Mode mode

signalDetectedThreshold

protected double signalDetectedThreshold

Constructor Detail

ModernRoboticsI2cIrSeekerSensorV3

public ModernRoboticsI2cIrSeekerSensorV3(I2cDeviceSynch deviceClient)

Method Detail

setOptimalReadWindow

protected void setOptimalReadWindow()

doInitialize

protected boolean doInitialize()

Description copied from class: I2cDeviceSynchDevice

Actually carries out the initialization of the instance.

Specified by:

doInitialize in class I2cDeviceSynchDevice<I2cDeviceSynch>

Returns:

Whether the initialization was successful or not

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

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Overrides:

getVersion in class I2cDeviceSynchDevice<I2cDeviceSynch>

Returns:

get the version of this device

read8

public byte read8(ModernRoboticsI2cIrSeekerSensorV3.Register reg)

write8

public void write8(ModernRoboticsI2cIrSeekerSensorV3.Register reg,
                   byte value)

readShort

protected short readShort(ModernRoboticsI2cIrSeekerSensorV3.Register reg)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

setSignalDetectedThreshold

public void setSignalDetectedThreshold(double threshold)

Description copied from interface: IrSeekerSensor

Set the minimum threshold for a signal to be considered detected

Specified by:

setSignalDetectedThreshold in interface IrSeekerSensor

Parameters:

threshold - minimum threshold

getSignalDetectedThreshold

public double getSignalDetectedThreshold()

Description copied from interface: IrSeekerSensor

Get the minimum threshold for a signal to be considered detected

Specified by:

getSignalDetectedThreshold in interface IrSeekerSensor

Returns:

threshold

setMode

public void setMode(IrSeekerSensor.Mode mode)

Description copied from interface: IrSeekerSensor

Set the device mode

Specified by:

setMode in interface IrSeekerSensor

Parameters:

mode - sample rate

getMode

public IrSeekerSensor.Mode getMode()

Description copied from interface: IrSeekerSensor

Get the device mode

Specified by:

getMode in interface IrSeekerSensor

Returns:

device mode

signalDetected

public boolean signalDetected()

Description copied from interface: IrSeekerSensor

Returns true if an IR signal is detected

Specified by:

signalDetected in interface IrSeekerSensor

Returns:

true if signal is detected; otherwise false

getAngle

public double getAngle()

Description copied from interface: IrSeekerSensor

Estimated angle in which the signal is coming from

If the signal is estimated to be directly ahead, 0 will be returned. If the signal is to the left a negative angle will be returned. If the signal is to the right a positive angle will be returned. If no signal is detected, a 0 will be returned.

NOTE: not all sensors give an accurate angle.

Specified by:

getAngle in interface IrSeekerSensor

Returns:

angle to IR signal

getStrength

public double getStrength()

Description copied from interface: IrSeekerSensor

IR Signal strength

Detected IR signal strength, on a scale of 0.0 to 1.0, where 0 is no signal detected and 1 is max IR signal detected.

Specified by:

getStrength in interface IrSeekerSensor

Returns:

signal strength, scaled from 0 to 1

getIndividualSensors

public IrSeekerSensor.IrSeekerIndividualSensor[] getIndividualSensors()

Description copied from interface: IrSeekerSensor

Get a list of all IR sensors attached to this seeker. The list will include the angle at which the sensor is mounted, and the signal strength.

Specified by:

getIndividualSensors in interface IrSeekerSensor

Returns:

array of IrSensors

setI2cAddress

public void setI2cAddress(I2cAddr newAddress)

Description copied from interface: IrSeekerSensor

Set the I2C address to a new value.

Specified by:

setI2cAddress in interface I2cAddrConfig

Specified by:

setI2cAddress in interface IrSeekerSensor

Parameters:

newAddress - the new I2C address to use

getI2cAddress

public I2cAddr getI2cAddress()

Description copied from interface: IrSeekerSensor

Get the current I2C Address of this object. Not necessarily the same as the I2C address of the actual device. Return the current I2C address.

Specified by:

getI2cAddress in interface I2cAddressableDevice

Specified by:

getI2cAddress in interface IrSeekerSensor

Returns:

current I2C address