Package xbot.common.controls.sensors

Class XLidarLite

java.lang.Object

xbot.common.controls.sensors.XLidarLite

All Implemented Interfaces:

DistanceSensor

Direct Known Subclasses:

LidarLiteWpiAdapter, MockLidarLite

public abstract class XLidarLite
extends Object
implements DistanceSensor

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	XLidarLite.XLidarLiteFactory

Field Summary

Fields

Modifier and Type	Field	Description
protected byte[]	distance
protected final int	lidar_address
protected final int	lidar_config_register
protected final int	lidar_distance_register

Constructor Summary

Constructors

Constructor	Description
XLidarLite(I2C.Port port, PropertyFactory propMan, DevicePolice police, String prefix)

Method Summary

Modifier and Type	Method	Description
double	getDistance()
double	pidGet()
void	setAveraging(boolean shouldAverage)
void	start()
void	stop()
protected abstract void	update()

Methods inherited from class java.lang.Object

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

Field Details

distance

protected byte[] distance

lidar_address

protected final int lidar_address

See Also:

• Constant Field Values

lidar_config_register

protected final int lidar_config_register

See Also:

• Constant Field Values

lidar_distance_register

protected final int lidar_distance_register

See Also:

• Constant Field Values

Constructor Details

XLidarLite

public XLidarLite(I2C.Port port,
 PropertyFactory propMan,
 DevicePolice police,
 String prefix)

Method Details

update

protected abstract void update()

getDistance

public double getDistance()

Specified by:

getDistance in interface DistanceSensor

pidGet

public double pidGet()

start

public void start()

stop

public void stop()

setAveraging

public void setAveraging(boolean shouldAverage)

Specified by:

setAveraging in interface DistanceSensor