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OpModeTestUltrasonic.java
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OpModeTestUltrasonic.java
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// add package here
import com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbLegacyModule;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
/**
* Created by cheer4ftc on 8/2/2016.
*/
public class OpModeTestUltrasonic extends OpMode {
UltrasonicSensorThread ultrasonicThreadA, ultrasonicThreadB;
@Override
public void init() {
ModernRoboticsUsbLegacyModule legacyModule = (ModernRoboticsUsbLegacyModule) hardwareMap.legacyModule.get("legacy");
int ultrasonicLegacyPort = 4; // legacy module port number for the ultrasonic sensor
ultrasonicThreadA = new UltrasonicSensorThread(legacyModule, ultrasonicLegacyPort);
ultrasonicThreadA.start();
ultrasonicLegacyPort = 5; // legacy module port number for the ultrasonic sensor
ultrasonicThreadB = new UltrasonicSensorThread(legacyModule, ultrasonicLegacyPort);
ultrasonicThreadB.start();
}
@Override
public void loop() {
// can call getUltrasonicLevel() or add Min, Median, or Max to method name (e.g., getUltrasonicLevelMedian() )
telemetry.addData("ultrasonic reading A: ", ultrasonicThreadA.getUltrasonicLevel());
telemetry.addData("ultrasonic reading B: ", ultrasonicThreadB.getUltrasonicLevel());
}
@Override
public void stop() {
ultrasonicThreadA.interrupt(); // make sure to interrupt them in stop() or at the end of a LinearOpMode's runOpMode method!
ultrasonicThreadB.interrupt();
}
}