Changes between Version 3 and Version 4 of ControlSystems/SampleCode/Ultrasonic

Timestamp:

Nov 3, 2019, 10:58:40 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SampleCode/Ultrasonic

@@ -13 +13 @@
 
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.Ultrasonic;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.Timer;
-import java.lang.Thread;
+import edu.wpi.first.wpilibj.Ultrasonic;
 
 /**
@@ -31 +29 @@
   private String m_autoSelected;
   private final SendableChooser<String> m_chooser = new SendableChooser<>();
-  private Ultrasonic front;
-  private Ultrasonic rear;
+  private Ultrasonic front, rear;
 
   /**
@@ -46 +43 @@
     front = new Ultrasonic(8, 9);
     rear = new Ultrasonic(5, 4);
-
-    // front.setEnabled(true);
-    // rear.setEnabled(true);
-    // front.setAutomaticMode(true);
+    // setting automatic mode applies to all ultrasonics
     front.setAutomaticMode(true);
-
   }
 
@@ -65 +58 @@
   @Override
   public void robotPeriodic() {
+    SmartDashboard.putNumber("front distance", front.getRangeInches());
+    SmartDashboard.putNumber("rear distance",  rear.getRangeInches());
   }
 
@@ -82 +77 @@
   public void autonomousInit() {
     m_autoSelected = m_chooser.getSelected();
-    // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
     System.out.println("Auto selected: " + m_autoSelected);
   }
@@ -107 +101 @@
   @Override
   public void teleopPeriodic() {
-    double distance;
-
-    distance = front.getRangeInches();
-    System.out.println(distance);
-    System.out.println("front");
-  
-      distance = rear.getRangeInches();
-      System.out.println(distance);
-      System.out.println("rear"); 
   }