Digital Sensors

NextDigitalSensor is a lightweight wrapper around a DigitalChannel for reading digital sensors like limit switches, magnetic switches, and beam breaks.

Most digital sensors are active low, meaning they read false when triggered (switch pressed, magnet present, beam broken) and true when idle. This wrapper handles that inversion for you, so isTriggered always means what you’d expect.

Creating a NextDigitalSensor

Kotlin

// By Lynx Module and port, recommended
val beamBreak = NextDigitalSensor(RobotController.controlHub, 0)

// Using your configuration name
val beamBreak = NextDigitalSensor("beamBreak")

Java

// By Lynx Module and port, recommended
NextDigitalSensor beamBreak = new NextDigitalSensor(RobotController.controlHub(), 0);

// Using your configuration name
NextDigitalSensor beamBreak = new NextDigitalSensor("beamBreak");

Both constructors accept an optional inverted parameter:

Parameter	Type	Default	Description
inverted	Boolean	true	If true, isTriggered returns the opposite of the raw sensor state.

Usage

isTriggered

Boolean, this is true if the sensor is currently triggered, while accounting for inverted.

Kotlin

if (beamBreak.isTriggered) {
    //...
}

Java

if (beamBreak.isTriggered()) {
    //...
}

rawState

Boolean, the raw state of the digital channel).

Kotlin

val raw = beamBreak.rawState

Java

boolean raw = beamBreak.getRawState();

debug()

Returns a string of the sensor’s current state, useful for telemetry or logging.

Kotlin

telemetry.addLine(beamBreak.debug())

Java

telemetry.addLine(beamBreak.debug());