Easy way to use the "single shot" mode of the LEGO Ultrasonic Sensor, using skatefriday/Team25's Ultrasonic single shot code. The single shot mode is reported to produce more reliable readings than the default mode.
Add the name of your java package at the top of each file and incorporate these into your normal codebase. Don't forget to add "OpModeTestUltrasonic" to your FtcOpModeRegister file to try out the test OpMode.
The test OpMode is set up for 2 ultrasonic sensors on legacy module ports 4 and 5. You may need to change the name of the legacy module to match what you named it in your RC configuration file. If you're only using a single ultrasonic sensor on port 4 or 5, just comment out or delete the code for the other sensor.
See OpModeTestUltrasonic for a simple example of how to use the code.
- initialize the Ultrasonic thread(s) in init() (or before waitForStart() in a LinearOpMode).
- interrupt the Ultrasonic thread(s) in stop() (or at the end of the runOpMode() method in a LinearOpMode).
- call getUltrasonicLevel() in loop() as necessary (or in runOpMode() in a LinearOpMode).
Other methods are getUltrasonicLevelMin(), ...Median(), and ...Max() which return the min, median, and max of the previous 5 ultrasonic level readings. 5 is a static int BUFFER_SIZE that can be changed in the UltrasonicSensorThread code.
Thanks to skatefriday/Team25 for the Ultrasonic single shot code!