Package lib.custom.sensors

Class CANSensor

java.lang.Object

lib.custom.CustomCAN

lib.custom.sensors.CANSensor

Direct Known Subclasses:

CANEncoder, CANInfraredDistanceSensor, CANUltrasonicDistanceSensor

public class CANSensor
extends CustomCAN

A sensor over CAN

Field Summary

Fields inherited from class lib.custom.CustomCAN

messageID, name

Constructor Summary

Constructors

Constructor	Description
CANSensor(String name, int id)

Method Summary

Modifier and Type	Method	Description
static String[]	getSensorStatuses()
int[]	readSensor()	Read the pair of ints from a CAN sensor

Methods inherited from class lib.custom.CustomCAN

getName, read, readBuffer, readSafely, write, writeSafely

Methods inherited from class java.lang.Object

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

Constructor Details

CANSensor

public CANSensor(String name,
 int id)

Parameters:

name - Name of CAN sensor (not really needed)

id - ID of CAN sensor (0x600 to 0x700, must correspond to a Teensy or similar)

Method Details

getSensorStatuses

public static String[] getSensorStatuses()

readSensor

public int[] readSensor()
                 throws InvalidSensorException

Read the pair of ints from a CAN sensor

Returns:

The latest pair of integers from the sensor

Throws:

InvalidSensorException - If the available data is more than one tenth of a second old, this function will throw an InvalidSensorException to indicate that.