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1 | package org.usfirst.frc.team3501.robot.sensors; |
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2 | |
3 | import edu.wpi.first.wpilibj.AnalogInput; |
4 | |
5 | // TODO: Change certain reactions based on testing, ie what value(s) return true |
6 | // and what value(s) return false. |
7 | |
8 | /*** |
9 | * The photogate is a pair of IR LED and phototransistor sensor that uses a |
10 | * reflective method to sense the presence of the boulder within the robot's |
11 | * shooting chamber. This class specifically checks for the ball's presence |
12 | * using a threshold of voltages outputted from the phototransistor. |
13 | * |
14 | * @author niyatisriram |
15 | */ |
16 | public class Photogate extends AnalogInput { |
17 | |
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18 | private double threshold = 1.8; |
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19 | |
20 | /*** |
21 | * The constructor inputs the channel of the transistor and the threshold |
22 | * value. |
23 | * The threshold is a specific value, representing the outputted voltage of |
24 | * the phototransistor. This value will be somewhere within the range [0, |
25 | * 4095] Find the value by testing and finding an average value for which the |
26 | * ball is present when the output is greater, and absent when the output is |
27 | * less. |
28 | */ |
29 | public Photogate(int channel, int threshold) { |
30 | super(channel); |
31 | this.threshold = threshold; |
32 | } |
33 | |
34 | /*** |
35 | * @return whether the ball is present or not |
36 | */ |
37 | public boolean isBallPresent() { |
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38 | if (this.getVoltage() > threshold) |
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39 | return true; |
40 | else |
41 | return false; |
42 | |
43 | } |
44 | |
45 | /*** |
46 | * @param threshold |
47 | * (range [0, 4095] |
48 | */ |
49 | public void setThreshold(int threshold) { |
50 | this.threshold = threshold; |
51 | } |
52 | } |