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