Distance Sensors

NextDistanceSensor is a lightweight wrapper for a distance sensor that caches the last reading.

Creating a NextDistanceSensor

Kotlin

// By Lynx Module and I2C bus, recommended
val sensor = NextDistanceSensor(RobotController.controlHub, 0)

// Using your configuration name
val sensor = NextDistanceSensor("distanceSensor")

Java

// By Lynx Module and I2C bus, recommended
NextDistanceSensor sensor = new NextDistanceSensor(RobotController.controlHub(), 0);

// Using your configuration name
NextDistanceSensor sensor = new NextDistanceSensor("distanceSensor");

Usage

update()

Reads the distance at that moment and refreshes the cache. Call this once per loop, before reading anything. It’s recommended to put this in your periodic for your Mechanism.

Kotlin

sensor.update()

Java

sensor.update();

isWithinDistance(threshold, unit)

True if the distance sensor senses an object within threshold, in the given unit.

Kotlin

if (sensor.isWithinDistance(4.0)) { ... } //defaults to CM

Java

if (sensor.isWithinDistance(4.0)) { ... } //defaults to CM