| mobilegamer999 |
11-02-2010 15:38 |
Java Maxbotix Ultrasonic Sensor Code
1 Attachment(s)
This is code for all of you using the maxbotix EZ1 sensor with java.
This code is a direct port from last years c++ to java for this year, its not 100% tested yet so if any of you have problems with it just post about it.
Code:
package edu.wpi.first.wpilibj.samples;
import edu.wpi.first.wpilibj.*;
public class MaxbotixUltrasonic extends SensorBase {
private final double IN_TO_CM_CONVERSION = 2.54;
private boolean use_units; //Are we using units or just returning voltage?
private double min_voltage; //Minimum voltage the ultrasonic sensor can return
private double voltage_range; //The range of the voltages returned by the sensor (maximum - minimum)
private double min_distance; //Minimum distance the ultrasonic sensor can return in inches
private double distance_range;//The range of the distances returned by this class in inches (maximum - minimum)
AnalogChannel channel;
//constructor
public MaxbotixUltrasonic(int _channel) {
channel = new AnalogChannel(_channel);
//default values
use_units = true;
min_voltage = .5;
voltage_range = 5.0 - min_voltage;
min_distance = 3.0;
distance_range = 60.0 - min_distance;
}
//constructor
public MaxbotixUltrasonic(int _channel, boolean _use_units, double _min_voltage,
double _max_voltage, double _min_distance, double _max_distance) {
channel = new AnalogChannel(_channel);
//only use unit-specific variables if we're using units
if (_use_units) {
use_units = true;
min_voltage = _min_voltage;
voltage_range = _max_voltage - _min_voltage;
min_distance = _min_distance;
distance_range = _max_distance - _min_distance;
}
}
// Just get the voltage.
double GetVoltage() {
return channel.getVoltage();
}
/* GetRangeInInches
* Returns the range in inches
* Returns -1.0 if units are not being used
* Returns -2.0 if the voltage is below the minimum voltage
*/
double GetRangeInInches() {
double range;
//if we're not using units, return -1, a range that will most likely never be returned
if (!use_units) {
return -1.0;
}
range = channel.getVoltage();
if (range < min_voltage) {
return -2.0;
}
//first, normalize the voltage
range = (range - min_voltage) / voltage_range;
//next, denormalize to the unit range
range = (range * distance_range) + min_distance;
return range;
}
/* GetRangeInCM
* Returns the range in centimeters
* Returns -1.0 if units are not being used
* Returns -2.0 if the voltage is below the minimum voltage
*/
double GetRangeInCM() {
double range;
//if we're not using units, return -1, a range that will most likely never be returned
if (!use_units) {
return -1.0;
}
range = channel.getVoltage();
if (range < min_voltage) {
return -2.0;
}
//first, normalize the voltage
range = (range - min_voltage) / voltage_range;
//next, denormalize to the unit range
range = (range * distance_range) + min_distance;
//finally, convert to centimeters
range *= IN_TO_CM_CONVERSION;
return range;
}
}
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