/// <summary>
/// Destructor for the ultrasonic sensor.
/// </summary>
/// <remarks>Delete the instance of the ultrasonic sensor by freeing the allocated digital channels.
/// If the system was in automatic mode (round robin), then it is stopped, then started again after
/// this sensor is removed (provided this wasn't the last sensor).
/// </remarks>
public override void Dispose()
{
base.Dispose();
bool previousAutoMode = s_automaticRoundRobinEnabled;
SetAutomaticMode(false);
lock (s_syncRoot)
{
s_currentSensors.Remove(this);
}
if (m_allocatedChannels)
{
m_pingChannel?.Dispose();
m_echoChannel?.Dispose();
}
m_counter?.Dispose();
m_pingChannel = null;
m_echoChannel = null;
m_counter = null;
lock (s_syncRoot)
{
if (!s_currentSensors.Any())
{
return;
}
}
SetAutomaticMode(previousAutoMode);
}
public Conveyer()
{
conveyor = new Talon(Constants.Conveyer_Channel);
beamBrakeIn = new DigitalInput(Constants.Conveyer_BeambrakeInChannel);
beamBrakeOut = new DigitalInput(Constants.Conveyer_BeambrakeOutChannel);
balls = 0;
InState = false;
}
/// <summary>
/// Create an instance of the <see cref="Ultrasonic"/> Sensor.
/// </summary>
/// <remarks>This is designed to superchannel the Deventech SRF04 and
/// Vex ultrasonic sensors.</remarks>
/// <param name="pingChannel">The digital output channel that sends the pulse
/// to initiate the sensor sending the ping</param>
/// <param name="echoChannel">The digital input channel the receives the echo.
/// The lenght of time that the echo is high represents the round trip time of
/// the ping, and the distance/</param>
/// <param name="units">The units returns in either <see cref="Unit.Inches">Inches</see>
/// or <see cref="Unit.Millimeters">Millimeters</see>. Default is inches.</param>
public Ultrasonic(int pingChannel, int echoChannel, Unit units = Unit.Inches)
{
m_pingChannel = new DigitalOutput(pingChannel);
m_echoChannel = new DigitalInput(echoChannel);
m_allocatedChannels = true;
DistanceUnits = units;
Initialize();
}
/// <summary>
/// Create an instance of the <see cref="Ultrasonic"/> Sensor.
/// </summary>
/// <remarks>This is designed to superchannel the Deventech SRF04 and
/// Vex ultrasonic sensors.</remarks>
/// <param name="pingChannel">The <see cref="DigitalOutput"/> channel that sends the pulse
/// to initiate the sensor sending the ping</param>
/// <param name="echoChannel">The <see cref="DigitalInput"/> channel the receives the echo.
/// The lenght of time that the echo is high represents the round trip time of
/// the ping, and the distance/</param>
/// <param name="units">The units returns in either <see cref="Unit.Inches">Inches</see>
/// or <see cref="Unit.Millimeters">Millimeters</see></param>
public Ultrasonic(DigitalOutput pingChannel, DigitalInput echoChannel, Unit units = Unit.Inches)
{
if (pingChannel == null)
{
throw new ArgumentNullException(nameof(pingChannel));
}
if (echoChannel == null)
{
throw new ArgumentNullException(nameof(echoChannel));
}
m_pingChannel = pingChannel;
m_echoChannel = echoChannel;
m_allocatedChannels = false;
DistanceUnits = units;
Initialize();
}
private static void AddDigitalInput(string key, DigitalInput limitSwitch)
{
DigitalInputKeys.Add(key);
DigitalInputs.Add(key, limitSwitch);
}
/// <summary>
/// Destructor for the ultrasonic sensor.
/// </summary>
/// <remarks>Delete the instance of the ultrasonic sensor by freeing the allocated digital channels.
/// If the system was in automatic mode (round robin), then it is stopped, then started again after
/// this sensor is removed (provided this wasn't the last sensor).
/// </remarks>
public override void Dispose()
{
base.Dispose();
bool previousAutoMode = s_automaticRoundRobinEnabled;
SetAutomaticMode(false);
lock (s_syncRoot)
{
s_currentSensors.Remove(this);
}
if (m_allocatedChannels)
{
m_pingChannel?.Dispose();
m_echoChannel?.Dispose();
}
m_counter?.Dispose();
m_pingChannel = null;
m_echoChannel = null;
m_counter = null;
lock (s_syncRoot)
{
if (!s_currentSensors.Any()) return;
}
SetAutomaticMode(previousAutoMode);
}
/// <summary>
/// Create an instance of the <see cref="Ultrasonic"/> Sensor.
/// </summary>
/// <remarks>This is designed to superchannel the Deventech SRF04 and
/// Vex ultrasonic sensors.</remarks>
/// <param name="pingChannel">The <see cref="DigitalOutput"/> channel that sends the pulse
/// to initiate the sensor sending the ping</param>
/// <param name="echoChannel">The <see cref="DigitalInput"/> channel the receives the echo.
/// The lenght of time that the echo is high represents the round trip time of
/// the ping, and the distance/</param>
/// <param name="units">The units returns in either <see cref="Unit.Inches">Inches</see>
/// or <see cref="Unit.Millimeters">Millimeters</see></param>
public Ultrasonic(DigitalOutput pingChannel, DigitalInput echoChannel, Unit units = Unit.Inches)
{
if (pingChannel == null) throw new ArgumentNullException(nameof(pingChannel));
if (echoChannel == null) throw new ArgumentNullException(nameof(echoChannel));
m_pingChannel = pingChannel;
m_echoChannel = echoChannel;
m_allocatedChannels = false;
DistanceUnits = units;
Initialize();
}
/// <summary>
/// Create an instance of the <see cref="Ultrasonic"/> Sensor.
/// </summary>
/// <remarks>This is designed to superchannel the Deventech SRF04 and
/// Vex ultrasonic sensors.</remarks>
/// <param name="pingChannel">The digital output channel that sends the pulse
/// to initiate the sensor sending the ping</param>
/// <param name="echoChannel">The digital input channel the receives the echo.
/// The lenght of time that the echo is high represents the round trip time of
/// the ping, and the distance/</param>
/// <param name="units">The units returns in either <see cref="Unit.Inches">Inches</see>
/// or <see cref="Unit.Millimeters">Millimeters</see>. Default is inches.</param>
public Ultrasonic(int pingChannel, int echoChannel, Unit units = Unit.Inches)
{
m_pingChannel = new DigitalOutput(pingChannel);
m_echoChannel = new DigitalInput(echoChannel);
m_allocatedChannels = true;
DistanceUnits = units;
Initialize();
}
private static void InitializeElevator()
{
ElevatorEncoder = new Encoder(8, 9, false, EncodingType.K1X);
ElevatorEncoder.DistancePerPulse = 1;
TopLimitSwitch = new DigitalInput(7);
BottomLimitSwitch = new DigitalInput(4);
var setpoints = new List<Setpoint>
{
new Setpoint(2, 0),
new Setpoint(4, 325),
new Setpoint(3, 750),
new Setpoint(5, 1475),
new Setpoint(8, 1200),
new Setpoint(9, 2800)
};
Setpoints = new SetpointMapWrapper(setpoints);
}
private static void InitializeAutonomous()
{
RightPhotoSensor = new DigitalInput(0);
LeftPhotoSensor = new DigitalInput(1);
Ultra = new Ultrasonic(3, 4);
Ultrasonic.SetAutomaticMode(true);
}
