edu.wpi.first.wpilibj
Class HiTechnicCompass

java.lang.Object
  edu.wpi.first.wpilibj.SensorBase
      edu.wpi.first.wpilibj.HiTechnicCompass

All Implemented Interfaces:

LiveWindowSendable, IDevice, ISensor, PIDSource, Sendable

public class HiTechnicCompass
extends SensorBase
implements ISensor, LiveWindowSendable, PIDSource

HiTechnic NXT Compass. This class alows access to a HiTechnic NXT Compass on an I2C bus. These sensors to not allow changing addresses so you cannot have more than one on a single bus. Details on the sensor can be found here: http://www.hitechnic.com/index.html?lang=en-us&target=d17.html

Nested Class Summary

class

HiTechnicCompass.CompassException An exception dealing with connecting to and communicating with the HiTechnicCompass

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj.PIDSource

PIDSource.PIDSourceParameter

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogChannels, kAnalogModules, kDigitalChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond

Constructor Summary

HiTechnicCompass(int slot)
Constructor.

Method Summary

void	free() Destructor.
double	getAngle() Get the compass angle in degrees.
java.lang.String	getSmartDashboardType()
ITable	getTable()
void	initTable(ITable subtable) Initializes a table for this sendable object.
double	pidGet() Get the result to use in PIDController
void	startLiveWindowMode() Start having this sendable object automatically respond to value changes reflect the value on the table.
void	stopLiveWindowMode() Stop having this sendable object automatically respond to value changes.
void	updateTable() Update the table for this sendable object with the latest values.

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogChannel, checkAnalogModule, checkDigitalChannel, checkDigitalModule, checkPWMChannel, checkPWMModule, checkRelayChannel, checkRelayModule, checkSolenoidChannel, checkSolenoidModule, getDefaultAnalogModule, getDefaultDigitalModule, getDefaultSolenoidModule, setDefaultAnalogModule, setDefaultDigitalModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

HiTechnicCompass

public HiTechnicCompass(int slot)

Constructor.

Parameters:

slot - The slot of the digital module that the sensor is plugged into.

Method Detail

free

public void free()

Destructor.

Overrides:

free in class SensorBase

getAngle

public double getAngle()

Get the compass angle in degrees. The resolution of this reading is 1 degree.

Returns:

Angle of the compass in degrees.

pidGet

public double pidGet()

Description copied from interface: PIDSource

Get the result to use in PIDController

Specified by:

pidGet in interface PIDSource

Returns:

the result to use in PIDController

getSmartDashboardType

public java.lang.String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

Returns:

the string representation of the named data type that will be used by the smart dashboard for this sendable

initTable

public void initTable(ITable subtable)

Initializes a table for this sendable object.

Specified by:

initTable in interface Sendable

Parameters:

subtable - The table to put the values in.

getTable

public ITable getTable()

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the sendable

updateTable

public void updateTable()

Update the table for this sendable object with the latest values.

Specified by:

updateTable in interface LiveWindowSendable

startLiveWindowMode

public void startLiveWindowMode()

Start having this sendable object automatically respond to value changes reflect the value on the table.

Specified by:

startLiveWindowMode in interface LiveWindowSendable

stopLiveWindowMode

public void stopLiveWindowMode()

Stop having this sendable object automatically respond to value changes.

Specified by:

stopLiveWindowMode in interface LiveWindowSendable