Changes between Version 6 and Version 7 of ControlSystems/SampleCode/Ultrasonic

Timestamp:

Nov 3, 2019, 11:37:32 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SampleCode/Ultrasonic

@@ -3 +3 @@
 
 1. Create a new project named Ultrasonic2.
-1. Download the attached Ultrasonic2537.java and save it in the src/main/java/frc/robot folder.
+1. Download the attached Ultrasonic2537.java and save it in the src/main/java/frc/robot folder.  This file is needed because the default Ultrasonic class provided with WPILib is defective and does not work with more than one ultrasonic sensor.
 1. Replace the auto-generated Robot.java class with the one below
+
+* Notice that we don't need to import the Ultrasonic2537 class because it is declared to be in the same package as the Robot class (package frc.robot).
 
 {{{
@@ -61 +63 @@
   @Override
   public void robotPeriodic() {
-    SmartDashboard.putNumber("front distance", front.getRangeInches());
-    SmartDashboard.putNumber("rear distance",  rear.getRangeInches());
+    if (front.isRangeValid())
+       SmartDashboard.putNumber("front distance", front.getRangeInches());
+    if (rear.isRangeValid())
+       SmartDashboard.putNumber("rear distance",  rear.getRangeInches());
   }
 
@@ -113 +117 @@
   }
 }
-
 }}}