Package com.marswars.sensors.tof

Class Tof

java.lang.Object
com.marswars.sensors.tof.Tof
All Implemented Interfaces:
SubsystemIoBase
Direct Known Subclasses:
GrappleTof, PwfTof
public abstract class Tof extends Object implements SubsystemIoBase

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static enum 
    Tof.RangeMode
     

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    protected final com.marswars.sensors.tof.TofInputsAutoLogged
    inputs_
     
    protected final boolean
    IS_SIM
     
    protected final String
    tof_name_
     

  • Method Summary

    Modifier and Type
    Method
    Description
    String
    getLoggingKey()
    Get the logging key for this mechanism
    double
    getRange()
    Get the measured range in meters
    void
    logData()
    Log data to NetworkTables or other logging systems
    void
    readInputs(double timestamp)
    Read inputs from hardware or simulation
    protected abstract void
    readTof()
     
    void
    setRange(double range)
    Set the measured range in meters (for simulation only)
    void
    writeOutputs(double timestamp)
    Write outputs to hardware or simulation

    Methods inherited from class java.lang.Object

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

  • Field Details

    • tof_name_

      protected final String tof_name_

    • IS_SIM

      protected final boolean IS_SIM

    • inputs_

      protected final com.marswars.sensors.tof.TofInputsAutoLogged inputs_

  • Method Details

    • getLoggingKey

      public String getLoggingKey()
      Get the logging key for this mechanism
      Returns:
      the logging key

    • readInputs

      public void readInputs(double timestamp)
      Description copied from interface: SubsystemIoBase
      Read inputs from hardware or simulation
      Specified by:
      readInputs in interface SubsystemIoBase
      Parameters:
      timestamp - the current timestamp

    • readTof

      protected abstract void readTof()

    • writeOutputs

      public void writeOutputs(double timestamp)
      Description copied from interface: SubsystemIoBase
      Write outputs to hardware or simulation
      Specified by:
      writeOutputs in interface SubsystemIoBase
      Parameters:
      timestamp - the current timestamp

    • logData

      public void logData()
      Description copied from interface: SubsystemIoBase
      Log data to NetworkTables or other logging systems
      Specified by:
      logData in interface SubsystemIoBase

    • getRange

      public double getRange()
      Get the measured range in meters
      Returns:
      range in meters

    • setRange

      public void setRange(double range)
      Set the measured range in meters (for simulation only)
      Parameters:
      range - range in meters