Class SharpIR

java.lang.Object
org.wpilib.hardware.range.SharpIR
All Implemented Interfaces:
AutoCloseable, TelemetryLoggable
public class SharpIR extends Object implements TelemetryLoggable, AutoCloseable
SharpIR analog distance sensor class. These distance measuring sensors output an analog voltage corresponding to the detection distance.

Teams are advised that the case of these sensors are conductive and grounded, so they should not be mounted on a metallic surface on an FRC robot.

  • Constructor Summary

    Constructors
    Constructor
    Description
    SharpIR(int channel, double a, double b, double min, double max)
    Manually construct a SharpIR object.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    close()
     
    int
    getChannel()
    Get the analog input channel number.
    double
    getRange()
    Get the range in meters from the distance sensor.
    String
    getTelemetryType()
    Gets the telemetry table type.
    static SharpIR
    GP2Y0A02YK0F(int channel)
    Sharp GP2Y0A02YK0F is an analog IR sensor capable of measuring distances from 20 cm to 150 cm.
    static SharpIR
    GP2Y0A21YK0F(int channel)
    Sharp GP2Y0A21YK0F is an analog IR sensor capable of measuring distances from 10 cm to 80 cm.
    static SharpIR
    GP2Y0A41SK0F(int channel)
    Sharp GP2Y0A41SK0F is an analog IR sensor capable of measuring distances from 4 cm to 30 cm.
    static SharpIR
    GP2Y0A51SK0F(int channel)
    Sharp GP2Y0A51SK0F is an analog IR sensor capable of measuring distances from 2 cm to 15 cm.
    void
    logTo(TelemetryTable table)
    Logs the object to a TelemetryTable.

    Methods inherited from class Object

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

  • Constructor Details

    • SharpIR

      public SharpIR(int channel, double a, double b, double min, double max)
      Manually construct a SharpIR object. The distance is computed using this formula: A*v ^ B. Prefer to use one of the static factories to create this device instead.
      Parameters:
      channel - AnalogInput channel
      a - Constant A
      b - Constant B
      min - Minimum distance to report in meters
      max - Maximum distance to report in meters

  • Method Details

    • GP2Y0A02YK0F

      public static SharpIR GP2Y0A02YK0F(int channel)
      Sharp GP2Y0A02YK0F is an analog IR sensor capable of measuring distances from 20 cm to 150 cm.
      Parameters:
      channel - Analog input channel the sensor is connected to
      Returns:
      sensor object

    • GP2Y0A21YK0F

      public static SharpIR GP2Y0A21YK0F(int channel)
      Sharp GP2Y0A21YK0F is an analog IR sensor capable of measuring distances from 10 cm to 80 cm.
      Parameters:
      channel - Analog input channel the sensor is connected to
      Returns:
      sensor object

    • GP2Y0A41SK0F

      public static SharpIR GP2Y0A41SK0F(int channel)
      Sharp GP2Y0A41SK0F is an analog IR sensor capable of measuring distances from 4 cm to 30 cm.
      Parameters:
      channel - Analog input channel the sensor is connected to
      Returns:
      sensor object

    • GP2Y0A51SK0F

      public static SharpIR GP2Y0A51SK0F(int channel)
      Sharp GP2Y0A51SK0F is an analog IR sensor capable of measuring distances from 2 cm to 15 cm.
      Parameters:
      channel - Analog input channel the sensor is connected to
      Returns:
      sensor object

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable

    • getChannel

      public int getChannel()
      Get the analog input channel number.
      Returns:
      analog input channel

    • getRange

      public double getRange()
      Get the range in meters from the distance sensor.
      Returns:
      range in meters of the target returned by the sensor

    • logTo

      public void logTo(TelemetryTable table)
      Description copied from interface: TelemetryLoggable
      Logs the object to a TelemetryTable.
      Specified by:
      logTo in interface TelemetryLoggable
      Parameters:
      table - telemetry table

    • getTelemetryType

      public String getTelemetryType()
      Description copied from interface: TelemetryLoggable
      Gets the telemetry table type. Default is no specified table type (null). A mismatch in type during logging results in a reported warning, so this should always return the same value.
      Specified by:
      getTelemetryType in interface TelemetryLoggable
      Returns:
      Table type