Our team (4505) is trying to use the Maxbotix MB1000 ultrasonic sensor on our bot, are there any suggestions for how to go about doing this by using an Analog Input? Any working example code? Below is the code we have now, is it a good starting point or should we start from scratch?
Source:
http://www.chiefdelphi.com/forums/sh...ad.php?t=82409
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.
public 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
*/
public 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
*/
public 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;
}
}