com.qualcomm.robotcore.hardware

Class IrSeekerSensor

java.lang.Object

com.qualcomm.robotcore.hardware.IrSeekerSensor

All Implemented Interfaces:

HardwareDevice

public abstract class IrSeekerSensor
extends java.lang.Object
implements HardwareDevice

IR Seeker Sensor

Determine the location of an IR source

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	IrSeekerSensor.IrSeekerIndividualSensor IR Sensor attached to an IR Seeker
static class	IrSeekerSensor.Mode Enumeration of device modes

Field Summary

Fields

Modifier and Type	Field and Description
static int	MAX_NEW_I2C_ADDRESS
static int	MIN_NEW_I2C_ADDRESS

Constructor Summary

Constructors

Constructor and Description
IrSeekerSensor()

Method Summary

Methods

Modifier and Type	Method and Description
abstract double	getAngle() Estimated angle in which the signal is coming from
abstract int	getI2cAddress() Get the current I2C Address of this object.
abstract IrSeekerSensor.IrSeekerIndividualSensor[]	getIndividualSensors() Get a list of all IR sensors attached to this seeker.
abstract IrSeekerSensor.Mode	getMode() Get the device mode
abstract double	getSignalDetectedThreshold() Get the minimum threshold for a signal to be considered detected
abstract double	getStrength() IR Signal strength
abstract void	setI2cAddress(int newAddress) Set the I2C address to a new value.
abstract void	setMode(IrSeekerSensor.Mode mode) Set the device mode
abstract void	setSignalDetectedThreshold(double threshold) Set the minimum threshold for a signal to be considered detected
abstract boolean	signalDetected() Returns true if an IR signal is detected
static void	throwIfModernRoboticsI2cAddressIsInvalid(int newAddress)
java.lang.String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getDeviceName, getVersion

Field Detail

MAX_NEW_I2C_ADDRESS

public static final int MAX_NEW_I2C_ADDRESS

See Also:

Constant Field Values

MIN_NEW_I2C_ADDRESS

public static final int MIN_NEW_I2C_ADDRESS

See Also:

Constant Field Values

Constructor Detail

IrSeekerSensor

public IrSeekerSensor()

Method Detail

setSignalDetectedThreshold

public abstract void setSignalDetectedThreshold(double threshold)

Set the minimum threshold for a signal to be considered detected

Parameters:

threshold - minimum threshold

getSignalDetectedThreshold

public abstract double getSignalDetectedThreshold()

Get the minimum threshold for a signal to be considered detected

Returns:

threshold

setMode

public abstract void setMode(IrSeekerSensor.Mode mode)

Set the device mode

Parameters:

mode - sample rate

getMode

public abstract IrSeekerSensor.Mode getMode()

Get the device mode

Returns:

device mode

signalDetected

public abstract boolean signalDetected()

Returns true if an IR signal is detected

Returns:

true if signal is detected; otherwise false

getAngle

public abstract double getAngle()

Estimated angle in which the signal is coming from

If the signal is estimated to be directly ahead, 0 will be returned. If the signal is to the left a negative angle will be returned. If the signal is to the right a positive angle will be returned. If no signal is detected, a 0 will be returned.

NOTE: not all sensors give an accurate angle.

Returns:

angle to IR signal

getStrength

public abstract double getStrength()

IR Signal strength

Detected IR signal strength, on a scale of 0.0 to 1.0, where 0 is no signal detected and 1 is max IR signal detected.

Returns:

signal strength, scaled from 0 to 1

getIndividualSensors

public abstract IrSeekerSensor.IrSeekerIndividualSensor[] getIndividualSensors()

Get a list of all IR sensors attached to this seeker. The list will include the angle at which the sensor is mounted, and the signal strength.

Returns:

array of IrSensors

setI2cAddress

public abstract void setI2cAddress(int newAddress)

Set the I2C address to a new value.

getI2cAddress

public abstract int getI2cAddress()

Get the current I2C Address of this object. Not necessarily the same as the I2C address of the actual device. Return the current I2C address.

Returns:

current I2C address

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

throwIfModernRoboticsI2cAddressIsInvalid

public static void throwIfModernRoboticsI2cAddressIsInvalid(int newAddress)