Sensors

package com.seattlesolvers.solverslib.hardware

Sensors

There are a few sensors that are offered in SolversLib:

• SensorColor

• SensorDistance & SensorDistanceEx

• SensorRevTOFDistance

The SensorColor class is just an extension for the ColorSensor class that is in the SDK.

SensorDistance and SensorDistanceEx are interfaces for creating custom distance sensors if desired. An implementation of the SensorDistanceEx interface is SensorRevTOFDistance which utilizes the time-of-flight mechanic to track distance.

Gyro Extensions

The GyroEx class is an extended gyro that allows users to add more configurable methods and possible control to their gyro. An example would be creating a ModernRoboticsGyro class. The abstract class has the following methods:

• init(): initializes the gyro and sets the current direction to the 0 heading

• getHeading(): returns the heading of the robot compared to the last reset

• getAbsoluteHeading(): returns the absolute heading relative to the initial direction

• getAngles(): returns the x, y, and z orientation of the gyro. This is functionally the same as yaw, pitch, and roll.

• getRotation2d(): transforms the heading into a Rotation2d object

• reset(): applies an offset so that getHeading() returns the 0 position

A useful implementation of this is the RevIMU class for the built-in imu on your REV hub.