Java Ultrasonic类代码示例

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
/**
 * Creates the ProximitySensor.
 */
public ProximitySensor() {
  logger.trace("Initializing proximity sensor");

  ultrasonicLeft =
      new Ultrasonic(RobotMap.ULTRASONIC_LEFT_TRIGGER, RobotMap.ULTRASONIC_LEFT_ECHO);
  
  ultrasonicRight =
      new Ultrasonic(RobotMap.ULTRASONIC_RIGHT_TRIGGER, RobotMap.ULTRASONIC_RIGHT_ECHO);
  ultrasonicRight.setAutomaticMode(true);

  bufferLeft = new double[12];
  bufferCopyLeft = new double[12];
  bufferIndexLeft = 0;
  
  bufferRight = new double[12];
  bufferCopyRight = new double[12];
  bufferIndexRight = 0;

  Thread averagingThread = new Thread(this::averagingThread);
  averagingThread.setName("Ultrasonic Averaging Thread");
  averagingThread.setDaemon(true);
  averagingThread.start();
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
public Robot() {
	stick = new Joystick(0);
	driveLeftFront = new Victor(LEFT_FRONT_DRIVE);
	driveLeftRear = new Victor(LEFT_REAR_DRIVE);
	driveRightFront = new Victor(RIGHT_FRONT_DRIVE);
	driveRightRear = new Victor(RIGHT_REAR_DRIVE);
	enhancedDriveLeft = new Victor(ENHANCED_LEFT_DRIVE);
	enhancedDriveRight = new Victor(ENHANCED_RIGHT_DRIVE);
	gearBox = new DoubleSolenoid(GEAR_BOX_PART1, GEAR_BOX_PART2);
	climber1 = new Victor(CLIMBER_PART1);
	climber2 = new Victor(CLIMBER_PART2);
	vexSensorBackLeft = new Ultrasonic(0, 1);
	vexSensorBackRight = new Ultrasonic(2, 3);
	vexSensorFrontLeft = new Ultrasonic(4, 5);
	vexSensorFrontRight = new Ultrasonic(6, 7);

	Skylar = new RobotDrive(driveLeftFront, driveLeftRear, driveRightFront, driveRightRear);
	OptimusPrime = new RobotDrive(enhancedDriveLeft, enhancedDriveRight);
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
private Drive()
{
    drive = new RobotDrive(new Talon(1),new Talon(2),new Talon(3),new Talon(4));
    drive.setSafetyEnabled(false);

    
    e1 = new Encoder(RobotMap.ENCODER_1_A, RobotMap.ENCODER_1_B, false, CounterBase.EncodingType.k4X);
    e2 = new Encoder(RobotMap.ENCODER_2_A, RobotMap.ENCODER_2_B, false, CounterBase.EncodingType.k4X);
    
    //A calculated constant to convert from encoder ticks to feet on 4 inch diameter wheels
    e1.setDistancePerPulse(0.0349065850388889/12);
    e2.setDistancePerPulse(0.0349065850388889/12);
    startEncoders();
    
    drive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, true);      
    drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true);
    
    sonic = new Ultrasonic(RobotMap.ULTRASONIC_A, RobotMap.ULTRASONIC_B);
    sonic.setAutomaticMode(true);
    sonic.setEnabled(true);
    
    
    shifter = new DoubleSolenoid(RobotMap.SHIFTER_ENGAGE, RobotMap.SHIFTER_DISENGAGE);
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
/**
 * Constructor
 * 
 * @param goalHeight
 * @param ultra
 * @param targetX
 */
public AngleFinder(double goalHeight, Ultrasonic ultra, int targetX) {
    this.goalHeight = goalHeight;
    this.targetX = targetX;
    this.targetY = 0;
    this.ultra = ultra;
    ultra.setAutomaticMode(true);
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit()
{
    // PWM's
    mTestMotor1 = new Talon(0);
    mTestMotor2 = new Jaguar(1);
    mServo = new Servo(2);

    // Digital IO
    mDigitalOutput = new DigitalOutput(0);
    mRightEncoder = new Encoder(4, 5);
    mLeftEncoder = new Encoder(1, 2);
    mUltrasonic = new Ultrasonic(7, 6);

    // Analog IO
    mAnalogGryo = new AnalogGyro(0);
    mPotentiometer = new AnalogPotentiometer(1);

    // Solenoid
    mSolenoid = new Solenoid(0);

    // Relay
    mRelay = new Relay(0);

    // Joysticks
    mJoystick1 = new Joystick(0);
    mJoystick2 = new XboxController(1);

    // SPI
    mSpiGryo = new ADXRS450_Gyro();

    // Utilities
    mTimer = new Timer();
    mPDP = new PowerDistributionPanel();

    Preferences.getInstance().putDouble("Motor One Speed", .5);
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
public static void initialize()
{
	if (!initialized) {
		//ultrasonicDevice = new AnalogInput(ANALOG_CHANNEL_ID);
		ultrasonicDevice = new Ultrasonic(TRIGGER_CHANNEL_ID,ECHO_CHANNEL_ID);
		ultrasonicDevice.setAutomaticMode(true);
		
		initialized = true;
	}
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
public static void initialize()
{
	if (!initialized) {
		ultrasonicDevice = new Ultrasonic(HardwareIDs.TRIGGER_CHANNEL_ID,HardwareIDs.ECHO_CHANNEL_ID);
		ultrasonicDevice.setAutomaticMode(true);
		
		initialized = true;
	}
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
public void robotInit(){
    driveStick= new JoyStickCustom(1, DEADZONE);
    secondStick=new JoyStickCustom(2, DEADZONE);
    
    frontLeft= new Talon(1);
    rearLeft= new Talon(2);
    frontRight= new Talon(3);
    rearRight= new Talon(4);
    
    timer=new Timer();
    timer.start();
    
    armM = new Victor(7);
    rollers =new Victor(6);
    
    mainDrive=new RobotDrive(frontLeft,rearLeft,frontRight,rearRight);

    mainDrive.setInvertedMotor(RobotDrive.MotorType.kFrontRight,true);
    mainDrive.setInvertedMotor(RobotDrive.MotorType.kRearRight, true);
    
    armP = new AnalogPotentiometer(1);
    distance= new AnalogChannel(2);
    ultra=new Ultrasonic(6,7);
    ultra.setAutomaticMode(true);
    
    compress=new Compressor(5,1);
    
    handJoint=new Pneumatics(3,4);
    
    //ultra = new Ultrasonic(6,5);
    //ultra.setAutomaticMode(true);
    
    winch = new Winch(secondStick);
    
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
public DistanceReader(){
    sensor = new Ultrasonic(RobotMap.PING_CHANNEL, RobotMap.ECHO_CHANNEL);
    sensor.setEnabled(true);
    sensor.setAutomaticMode(true);
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
public void init() {
    
    motorLeft = new Talon(1);
    motorRight = new Talon(2);
    System.out.println("[INFO] TALON[1&2]: Created!");
    elToro1 = new Talon(3);
    elToro2 = new Talon(4);
    System.out.println("[INFO] TALON[3&4]: Created!");
    robotdrive = new RobotDriveSteering(motorLeft, motorRight);
    robotdrive.setInvertedMotor(RobotDriveSteering.MotorType.kRearLeft, true);
    robotdrive.setInvertedMotor(RobotDriveSteering.MotorType.kRearRight, true);
    
    compressor = new Compressor(1, 1); // presureSwitchDigitalInput, RelayOut
    compressor.start();
    
    wormgear = new Relay(2);
    spreader = new Relay(3);
    System.out.println("[INFO] RELAY[1&2&3]: Created!");
    
    joystick = new Joystick(1);
    //joystick2 = new Joystick(2);
    System.out.println("[INFO] JOYSTICK[1&2]: Created!");
    
    cock = new Solenoid(1);
    uncock = new Solenoid(2);
    lock = new Solenoid(3);
    fire = new Solenoid(4);
    
    System.out.println("[INFO] Digital I/O: Enabled.");
    
    sonic = new Ultrasonic(4, 2);
    sonic.setEnabled(true);
    sonic2 = new AnalogChannel(3);
    pot = new AnalogPotentiometer(2, 10);
    
    autonomousTimer = new Timer();
    t = new Timer();
    
    LCD = DriverStationLCD.getInstance();
    ds = DriverStation.getInstance();
    
    System.out.println("[INFO] Robot Initialized");
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
public void robotInit(){
		Subsystems.robot = this;
		Subsystems.imu = new IMU(GYRO_CHANNEL);
		Subsystems.imu.reset();
		
		Subsystems.driveTrain = new DriveTrain(DRIVE_MOTOR_FRONTLEFT, DRIVE_MOTOR_BACKLEFT
				, DRIVE_MOTOR_FRONTRIGHT, DRIVE_MOTOR_BACKRIGHT, ContinuousMotor.SpeedControllerType.TALON);
//		Subsystems.driveTrain = new DriveTrain(1,2,ContinuousMotor.SpeedControllerType.JAGUAR);
		
		Subsystems.compressor = new Compressor(COMPRESSOR_RELAY, COMPRESSOR_PRESSURESWITCH);
		
		Subsystems.nets = new Nets
				( new LimitedMotor(NET_MOTOR_LEFT, LimitedMotor.SpeedControllerType.VICTOR, NET_SWITCH_LEFT, NET_PROX_LEFT)
				, new LimitedMotor(NET_MOTOR_RIGHT, LimitedMotor.SpeedControllerType.VICTOR, NET_SWITCH_RIGHT, NET_PROX_RIGHT));
		
		Subsystems.arm = new RollerArm(SOLENOID_LEFT_EXTEND,SOLENOID_LEFT_RETRACT,SOLENOID_RIGHT_EXTEND,SOLENOID_RIGHT_RETRACT);
		Subsystems.roller = new Roller(ROLLER_MOTOR, ContinuousMotor.SpeedControllerType.VICTOR);
		Subsystems.ranger = new Ranger(RANGER_CHANNEL);
		Subsystems.pid = new PIDController(0.5,0,0,Subsystems.ranger,new PIDDriveInterface());
		Subsystems.turnPID = new PIDController(0.003,0,0.007,Subsystems.imu, new PIDTurnInterface());
		
		Subsystems.leftUltrasonicSensor = new Ultrasonic(ULTRASONIC_LEFT_PING, ULTRASONIC_LEFT_ECHO, Ultrasonic.Unit.kInches);
		Subsystems.rightUltrasonicSensor = new Ultrasonic(ULTRASONIC_RIGHT_PING, ULTRASONIC_RIGHT_EHCO, Ultrasonic.Unit.kInches);
		
		Subsystems.leftUltrasonicSensor.setAutomaticMode(true);
		Subsystems.rightUltrasonicSensor.setAutomaticMode(true);
		
		//Subsystems.compressor.init();
		OperatorInterface.init();
		
		smartDashboardInit();
		
//		Subsystems.compressor.activate();
//		long then = System.currentTimeMillis();
//		while(System.currentTimeMillis()-then<100*1000){
//			Subsystems.compressor.activate();
//		}
//		Subsystems.compressor.deactive();
		Subsystems.compressor.init();
		
		//TODO Have drivers refine these values and make them constants in DriveTrain.
		SmartDashboard.putNumber("Range 1", 0.4);
		SmartDashboard.putNumber("Range 2", 0.8);
		SmartDashboard.putNumber("Range 3", 1.0);
		
		SmartDashboard.putNumber("Max Delta 1", 1.0);
		SmartDashboard.putNumber("Max Delta 2", 0.1);
		SmartDashboard.putNumber("Max Delta 3", 0.01);
//		Scheduler.getInstance().add(new SetState(Subsystems.nets.leftNet, State.CLOSED, Nets.CLOSE_SPEED));
		
//		Scheduler.getInstance().add(new AddCommandAfterDelay
//				(new SetState(Subsystems.nets.rightNet, State.CLOSED, Nets.OPEN_SPEED),0.5));
	}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
/**
 * Used to get ultra
 * 
 * @return ultra
 */
public Ultrasonic getUltra() {
    return ultra;
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
/**
 * Used to set ultra
 * 
 * @param ultra
 */    
public void setUltra(Ultrasonic ultra) {
    this.ultra = ultra;
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
/**
 * Create a digital ultrasonic {@link DistanceSensor} for an {@link Ultrasonic} sensor that uses the specified channels.
 *
 * @param pingChannel the digital output channel to use for sending pings
 * @param echoChannel the digital input channel to use for receiving echo responses
 * @return a {@link DistanceSensor} linked to the specified channels
 */
public static DistanceSensor digitalUltrasonic(int pingChannel, int echoChannel) {
    Ultrasonic ultrasonic = new Ultrasonic(pingChannel, echoChannel);
    ultrasonic.setAutomaticMode(true);
    return DistanceSensor.create(ultrasonic::getRangeInches);
}
 

import edu.wpi.first.wpilibj.Ultrasonic; //导入依赖的package包/类
/**
 * Constructs the module with the ultrasonic object underneath this class to
 * call methods from.
 *
 * @param ultrasonic the composing instance which will return values
 */
protected UltrasonicRangeFinderModule(Ultrasonic ultrasonic) {
    this.ultrasonic = ultrasonic;
}