Java I2C类代码示例

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
public void update(){
	
	// Shift all of the values to the left once
	for (int i = 0; i < numberOfSamples - 1; i++) {
		xValues[i] = xValues[i + 1];
		yValues[i] = yValues[i + 1];
		zValues[i] = zValues[i + 1];
	}
	
	// Update all of the values with accelerometer
	xValues[numberOfSamples - 1] = this.getX();
	yValues[numberOfSamples - 1] = this.getY();
	zValues[numberOfSamples - 1] = this.getZ();
	
	// If all of the latest values are 0, then the accelerometer crashed. DisablePID and stop the  shooter aim motor, then try to re-initialize it.
	if (xValues[numberOfSamples - 1] == 0 && yValues[numberOfSamples - 1] == 0 && zValues[numberOfSamples - 1] == 0) {
		
		Robot.shooterAim.disablePID();
		Robot.shooterAim.manualAim(0);
		
		accelerometer = new ADXL345_I2C(I2C.Port.kOnboard, Accelerometer.Range.k4G);
		
	}
	
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
/**
 * Instantiates the Sensor Input module to read all sensors connected to the roboRIO.
 */
private SensorInput() {	
	limit_left = new DigitalInput(ChiliConstants.left_limit);
	limit_right = new DigitalInput(ChiliConstants.right_limit);
	accel = new BuiltInAccelerometer(Accelerometer.Range.k2G);
	gyro = new Gyro(ChiliConstants.gyro_channel);
	pdp = new PowerDistributionPanel();
	left_encoder = new Encoder(ChiliConstants.left_encoder_channelA, ChiliConstants.left_encoder_channelB, false);
	right_encoder = new Encoder(ChiliConstants.right_encoder_channelA, ChiliConstants.right_encoder_channelB, true);
	gyro_i2c = new GyroITG3200(I2C.Port.kOnboard);
	
	gyro_i2c.initialize();
	gyro_i2c.reset();
	gyro.initGyro();
	
	left_encoder.setDistancePerPulse(ChiliConstants.kDistancePerPulse);
	right_encoder.setDistancePerPulse(ChiliConstants.kDistancePerPulse);
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
/**
 * Sends the current mode (auto, teleop, or disabled) over I2C.
 *
 * @param i2C  The I2C channel to send the data over.
 * @param mode The current mode, represented as a String.
 */
private void sendModeOverI2C(I2C i2C, String mode) {
	//If the I2C exists
	if (i2C != null) {
		//Turn the alliance and mode into a character array.
		char[] CharArray = (allianceString + "_" + mode).toCharArray();
		//Transfer the character array to a byte array.
		byte[] WriteData = new byte[CharArray.length];
		for (int i = 0; i < CharArray.length; i++) {
			WriteData[i] = (byte) CharArray[i];
		}
		//Send the byte array.
		i2C.transaction(WriteData, WriteData.length, null, 0);
	}
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
/**
 * Instantiates a new BNO055 class.
 *
 * @param port the physical port the sensor is plugged into on the roboRio
 * @param address the address the sensor is at (0x28 or 0x29)
 */
private BNO055(I2C.Port port, byte address) {
	imu = new I2C(port, address);
	
	executor = new java.util.Timer();
	executor.schedule(new BNO055UpdateTask(this), 0L, THREAD_PERIOD);
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
/**
 * Get an instance of the IMU object.
 * 
 * @param mode the operating mode to run the sensor in.
 * @param port the physical port the sensor is plugged into on the roboRio
 * @param address the address the sensor is at (0x28 or 0x29)
 * @return the instantiated BNO055 object
 */
public static BNO055 getInstance(opmode_t mode, vector_type_t vectorType,
		I2C.Port port, byte address) {
	if(instance == null) {
		instance = new BNO055(port, address);
	}
	requestedMode = mode;
	requestedVectorType = vectorType;
	return instance;
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
/**
 * Constructor for TCS34725 Color Sensor from Adafruit. Initializes internal data structures and
 * opens I2C coms to the device.
 */
TCS34725ColorSensor() {
    color_sen = new I2C(Port.kOnboard, I2C_constants.TCS34725_I2C_ADDR);
    sensor_initalized = false;
    good_data_read = false;

}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
/**
 * Instantiates a new BNO055 class.
 *
 * @param port the physical port the sensor is plugged into on the roboRio
 * @param address the address the sensor is at (0x28 or 0x29)
 */
private BNO055(I2C.Port port, byte address) {
    imu = new I2C(port, address);
    this.initialized = false;
    this.state = 0;
    executor = new java.util.Timer();
    executor.schedule(new BNO055UpdateTask(this), 0L, THREAD_PERIOD);
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
/**
 * Get an instance of the IMU object.
 *
 * @param mode the operating mode to run the sensor in.
 * @param port the physical port the sensor is plugged into on the roboRio
 * @param address the address the sensor is at (0x28 or 0x29)
 * @return the instantiated BNO055 object
 */
public static BNO055 getInstance(opmode_t mode, vector_type_t vectorType,
        I2C.Port port, byte address) {
    if (instance == null) {
        instance = new BNO055(port, address);
    }
    requestedMode = mode;
    return instance;
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
public static void initialize() {
	if (!initialized)
	{
		i2cBus = new I2C(I2C.Port.kMXP, 4);	
		initialized = true;
		
		setTeamColor();
	}
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
public CompassReader(VariableStore variables)
{
	m_i2c = new I2C(I2C.Port.kOnboard, deviceAddress);
	m_i2c.write(2, 0);
	m_variables = variables;
	alpha = variables.GetDouble(compassAlphaVariableName, alphaOrig);
	beta = variables.GetDouble(compassBetaVariableName, betaOrig);
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
public SparkfunGyro() {
	mag = new I2C(I2C.Port.kOnboard, MAG_ADDR);
	gyro = new I2C(I2C.Port.kOnboard, AG_ADDR);

	buffer8[0] = 0;

	initGyro();

	//Bad startup values
	//readCount(20);

	//Calculate bias
	bias = readCount(30);
	bias /= 30;
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
public PixyVision(
    final String instanceName, Robot robot, int signature, int brightness, Orientation orientation,
    I2C.Port port, int i2cAddress)
{
    pixyCamera = new FrcPixyCam(instanceName, port, i2cAddress);
    commonInit(robot, signature, brightness, orientation);
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
/**
 * Constructor: Create an instance of the object.
 *
 * @param instanceName specifies the instance name.
 * @param port specifies the I2C port on the RoboRIO.
 * @param devAddress specifies the I2C address of the device.
 */
public FrcPixyCam(final String instanceName, I2C.Port port, int devAddress)
{
    super(instanceName);

    if (debugEnabled)
    {
        dbgTrace = new TrcDbgTrace(moduleName + "." + instanceName, tracingEnabled, traceLevel, msgLevel);
    }

    pixyCam = new FrcI2cDevice(instanceName, port, devAddress);
    start();
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
/**
 * Constructor: Creates an instance of the object.
 *
 * @param instanceName specifies the instance name.
 * @param port specifies the I2C port the device is connected to.
 * @param devAddress specifies the address of the device on the I2C bus.
 */
public FrcI2cDevice(final String instanceName, Port port, int devAddress)
{
    super(instanceName);

    if (debugEnabled)
    {
        dbgTrace = new TrcDbgTrace(moduleName + "." + instanceName, tracingEnabled, traceLevel, msgLevel);
    }

    device = new I2C(port, devAddress);
}
 

import edu.wpi.first.wpilibj.I2C; //导入依赖的package包/类
/**
 * Constructor.
 * @param port The I2C port the accelerometer is attached to
 * @param range The range (+ or -) that the accelerometer will measure.
 */
public ADXL345_I2C_SparkFun(I2C.Port port, Range range) {
	m_i2c = new I2C(port, kAddress);

	// Turn on the measurements
	m_i2c.write(kPowerCtlRegister, kPowerCtl_Measure);

	setRange(range);

	UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
	LiveWindow.addSensor("ADXL345_I2C", port.getValue(), this);
}