ModernRoboticsI2cRangeSensor (FtcRobotController API)

java.lang.Object
- com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice<I2cDeviceSynch>
- - com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor

All Implemented Interfaces:: DistanceSensor, HardwareDevice, I2cAddrConfig, I2cAddressableDevice, LightSensor, OpticalDistanceSensor, RobotArmingStateNotifier.Callback

@I2cDeviceType
 @DeviceProperties(name="@string/mr_range_name",
                  description="@string/mr_range_description",
                  xmlTag="ModernRoboticsI2cRangeSensor",
                  builtIn=true)
public class ModernRoboticsI2cRangeSensor
extends I2cDeviceSynchDevice<I2cDeviceSynch>
implements DistanceSensor, OpticalDistanceSensor, I2cAddrConfig

ModernRoboticsI2cRangeSensor implements support for the MR ultrasonic/optical combo range sensor.

See Also:: MR Range Sensor

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class ModernRoboticsI2cRangeSensor.Register
- Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice
  HardwareDevice.Manufacturer

Nested Classes
Modifier and Type	Class and Description
`static class`	`ModernRoboticsI2cRangeSensor.Register`

Field Summary

Fields
Modifier and Type	Field and Description
`static I2cAddr`	`ADDRESS_I2C_DEFAULT`
`double`	`aParam` Experimentally determined constants for converting optical measurements to distance.
`protected static double`	`apiLevelMax`
`protected static double`	`apiLevelMin`
`double`	`bParam`
`protected static int`	`cmUltrasonicMax`
`double`	`cParam`
`double`	`dParam`
`int`	`rawOpticalMinValid`

Fields inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice
deviceClient, deviceClientIsOwned, isInitialized

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

Constructor Summary

Constructors
Constructor and Description

ModernRoboticsI2cRangeSensor(I2cDeviceSynch deviceClient)

Constructors
Constructor and Description
`ModernRoboticsI2cRangeSensor(I2cDeviceSynch deviceClient)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`protected double`	`cmFromOptical(int rawOptical)` Converts a raw optical inverse-square reading into a fitted, calibrated linear reading in cm.
`double`	`cmOptical()`
`double`	`cmUltrasonic()`
`protected boolean`	`doInitialize()` Actually carries out the initialization of the instance.
`void`	`enableLed(boolean enable)` Enable the LED light
`java.lang.String`	`getDeviceName()` Returns a string suitable for display to the user as to the type of device.
`double`	`getDistance(DistanceUnit unit)` Returns a calibrated, linear sense of distance as read by the infrared proximity part of the sensor.
`I2cAddr`	`getI2cAddress()` Returns the I2C address currently in use to communicate with an I2C hardware device
`double`	`getLightDetected()` Get the amount of light detected by the sensor, scaled and cliped to a range which is a pragmatically useful sensitivity.
`HardwareDevice.Manufacturer`	`getManufacturer()` Returns an indication of the manufacturer of this device.
`double`	`getRawLightDetected()` Returns a signal whose strength is proportional to the intensity of the light measured.
`double`	`getRawLightDetectedMax()` Returns the maximum value that can be returned by `LightSensor.getRawLightDetected()`.
`int`	`rawOptical()` Returns the raw reading on the optical sensor
`int`	`rawUltrasonic()` Returns the raw reading on the ultrasonic sensor
`byte`	`read8(ModernRoboticsI2cRangeSensor.Register reg)`
`protected int`	`readUnsignedByte(ModernRoboticsI2cRangeSensor.Register reg)`
`void`	`setI2cAddress(I2cAddr newAddress)` Configures a new I2C address to use
`protected void`	`setOptimalReadWindow()`
`java.lang.String`	`status()` Status of this sensor, in string form
`void`	`write8(ModernRoboticsI2cRangeSensor.Register reg, byte value)`
`void`	`write8(ModernRoboticsI2cRangeSensor.Register reg, byte value, I2cWaitControl waitControl)`

Methods inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice
close, disengage, engage, getConnectionInfo, getDeviceClient, getVersion, initialize, initializeIfNecessary, onModuleStateChange, registerArmingStateCallback, resetDeviceConfigurationForOpMode

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice
close, getConnectionInfo, getVersion, resetDeviceConfigurationForOpMode

- Field Detail
  - ADDRESS_I2C_DEFAULT
```
public static final I2cAddr ADDRESS_I2C_DEFAULT
```
  - apiLevelMin
```
protected static final double apiLevelMin
```
    See Also:
    
    Constant Field Values
  - apiLevelMax
```
protected static final double apiLevelMax
```
    See Also:
    
    Constant Field Values
  - aParam
```
public double aParam
```
    Experimentally determined constants for converting optical measurements to distance.
  - bParam
```
public double bParam
```
  - cParam
```
public double cParam
```
  - dParam
```
public double dParam
```
  - rawOpticalMinValid
```
public int rawOpticalMinValid
```
  - cmUltrasonicMax
```
protected static final int cmUltrasonicMax
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - ModernRoboticsI2cRangeSensor
```
public ModernRoboticsI2cRangeSensor(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
  - getDistance
```
public double getDistance(DistanceUnit unit)
```
    Returns a calibrated, linear sense of distance as read by the infrared proximity part of the sensor. Distance is measured to the plastic housing at the front of the sensor. The manufacturer states that the optical readings decay exponentially. This was a surprise, as optical sensors usually decay with an inverse square law. However, both forms were fitted, and the the exponential form produced better results. Accordingly, exponential parameters have been fitted to turn the reported reading into a linear measure of distance. The function fitted was of the form: rawOptical == a + b exp(c cm - d) This fitted linearity is fairly accurate over a range of target surfaces, but is ultimately affected by the reflectivity of the surface. However, even on surfaces where there is significantly different reflectivity, the linearity calculated here tends to be preserved, so distance accuracy can often be refined with a simple further multiplicative scaling. Note that readings are most accurate when perpendicular to the surface. For non-perpendicularity, a cosine correction factor is usually appropriate.
    
    Specified by:
    
    getDistance in interface DistanceSensor
    
    Parameters:
    
    unit - the unit of distance in which the result should be returned
    
    Returns:
    
    the currently measured distance in the indicated units
  - cmFromOptical
```
protected double cmFromOptical(int rawOptical)
```
    Converts a raw optical inverse-square reading into a fitted, calibrated linear reading in cm.
  - cmUltrasonic
```
public double cmUltrasonic()
```
  - cmOptical
```
public double cmOptical()
```
  - getLightDetected
```
public double getLightDetected()
```
    Description copied from interface: LightSensor
    
    Get the amount of light detected by the sensor, scaled and cliped to a range which is a pragmatically useful sensitivity. Note that returned values INCREASE as the light energy INCREASES.
    
    Specified by:
    
    getLightDetected in interface LightSensor
    
    Returns:
    
    amount of light, on a scale of 0.0 to 1.0
  - getRawLightDetected
```
public double getRawLightDetected()
```
    Description copied from interface: LightSensor
    
    Returns a signal whose strength is proportional to the intensity of the light measured. Note that returned values INCREASE as the light energy INCREASES. The units in which this signal is returned are unspecified.
    
    Specified by:
    
    getRawLightDetected in interface LightSensor
    
    Returns:
    
    a value proportional to the amount of light detected, in unspecified units
  - getRawLightDetectedMax
```
public double getRawLightDetectedMax()
```
    Description copied from interface: LightSensor
    
    Returns the maximum value that can be returned by LightSensor.getRawLightDetected().
    
    Specified by:
    
    getRawLightDetectedMax in interface LightSensor
    
    Returns:
    
    the maximum value that can be returned by getRawLightDetected
    
    See Also:
    
    LightSensor.getRawLightDetected()
  - enableLed
```
public void enableLed(boolean enable)
```
    Description copied from interface: LightSensor
    
    Enable the LED light
    
    Specified by:
    
    enableLed in interface LightSensor
    
    Parameters:
    
    enable - true to enable; false to disable
  - status
```
public java.lang.String status()
```
    Description copied from interface: LightSensor
    
    Status of this sensor, in string form
    
    Specified by:
    
    status in interface LightSensor
    
    Returns:
    
    status
  - rawUltrasonic
```
public int rawUltrasonic()
```
    Returns the raw reading on the ultrasonic sensor
    
    Returns:
    
    the raw reading on the ultrasonic sensor
  - rawOptical
```
public int rawOptical()
```
    Returns the raw reading on the optical sensor
    
    Returns:
    
    the raw reading on the optical sensor
  - setI2cAddress
```
public void setI2cAddress(I2cAddr newAddress)
```
    Description copied from interface: I2cAddrConfig
    
    Configures a new I2C address to use
    
    Specified by:
    
    setI2cAddress in interface I2cAddrConfig
    
    Parameters:
    
    newAddress - the new I2C address to use
  - getI2cAddress
```
public I2cAddr getI2cAddress()
```
    Description copied from interface: I2cAddressableDevice
    
    Returns the I2C address currently in use to communicate with an I2C hardware device
    
    Specified by:
    
    getI2cAddress in interface I2cAddressableDevice
    
    Returns:
    
    the I2C address currently in use
  - 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
  - read8
```
public byte read8(ModernRoboticsI2cRangeSensor.Register reg)
```
  - write8
```
public void write8(ModernRoboticsI2cRangeSensor.Register reg,
                   byte value)
```
  - write8
```
public void write8(ModernRoboticsI2cRangeSensor.Register reg,
                   byte value,
                   I2cWaitControl waitControl)
```
  - readUnsignedByte
```
protected int readUnsignedByte(ModernRoboticsI2cRangeSensor.Register reg)
```

Class ModernRoboticsI2cRangeSensor

Nested Class Summary

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

Field Summary

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

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

Constructor Summary

Method Summary

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

Methods inherited from class java.lang.Object

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

Field Detail

ADDRESS_I2C_DEFAULT

apiLevelMin

apiLevelMax

aParam

bParam

cParam

dParam

rawOpticalMinValid

cmUltrasonicMax

Constructor Detail

ModernRoboticsI2cRangeSensor

Method Detail

setOptimalReadWindow

doInitialize

getDistance

cmFromOptical

cmUltrasonic

cmOptical

getLightDetected

getRawLightDetected

getRawLightDetectedMax

enableLed

status

rawUltrasonic

rawOptical

setI2cAddress

getI2cAddress

getManufacturer

getDeviceName

read8

write8

write8

readUnsignedByte