Range Sensor

/*
Modern Robotics Range Sensor Example
Created 9/8/2016 by Colton Mehlhoff of Modern Robotics using FTC SDK 2.x Beta
Reuse permitted with credit where credit is due

Configuration:
I2cDevice on an Interface Module named "range" at the default address of 0x28 (0x14 7-bit)

This program can be run without a battery and Power Destitution Module.

For more information, visit modernroboticsedu.com.
Support is available by emailing support@modernroboticsinc.com.
*/

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.I2cAddr;
import com.qualcomm.robotcore.hardware.I2cDevice;
import com.qualcomm.robotcore.hardware.I2cDeviceSynch;
import com.qualcomm.robotcore.hardware.I2cDeviceSynchImpl;

@TeleOp(name = "Range", group = "MRI")
public class MRI_Range extends OpMode {

    byte[] range1Cache; //The read will return an array of bytes. They are stored in this variable

    I2cAddr RANGE1ADDRESS = new I2cAddr(0x14); //Default I2C address for MR Range (7-bit)
    public static final int RANGE1_REG_START = 0x04; //Register to start reading
    public static final int RANGE1_READ_LENGTH = 2; //Number of byte to read

    public I2cDevice RANGE1;
    public I2cDeviceSynch RANGE1Reader;

    @Override
    public void init() {
        RANGE1 = hardwareMap.i2cDevice.get("range");
        RANGE1Reader = new I2cDeviceSynchImpl(RANGE1, RANGE1ADDRESS, false);
        RANGE1Reader.engage();
    }

    @Override
    public void loop() {
        range1Cache = RANGE1Reader.read(RANGE1_REG_START, RANGE1_READ_LENGTH);

        telemetry.addData("Ultra Sonic", range1Cache[0] & 0xFF);
        telemetry.addData("ODS", range1Cache[1] & 0xFF);
    }

    @Override
    public void stop() {

    }

}

/*
Modern Robotics Range Sensor Example
Created 9/8/2016 by Colton Mehlhoff of Modern Robotics using FTC SDK 2.x Beta
Reuse permitted with credit where credit is due

Configuration:
I2cDevice on an Interface Module named "range" at the default address of 0x28 (0x14 7-bit)

This program can be run without a battery and Power Destitution Module.

For more information, visit modernroboticsedu.com.
Support is available by emailing support@modernroboticsinc.com.
*/

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.I2cAddr;
import com.qualcomm.robotcore.hardware.I2cDevice;
import com.qualcomm.robotcore.hardware.I2cDeviceSynch;
import com.qualcomm.robotcore.hardware.I2cDeviceSynchImpl;
import com.qualcomm.robotcore.util.ElapsedTime;

@TeleOp(name = "Range Linear", group = "MRI")
public class MRI_Range_Linear extends LinearOpMode {

    private ElapsedTime runtime = new ElapsedTime();

    byte[] range1Cache; //The read will return an array of bytes. They are stored in this variable

    I2cAddr RANGE1ADDRESS = new I2cAddr(0x14); //Default I2C address for MR Range (7-bit)
    public static final int RANGE1_REG_START = 0x04; //Register to start reading
    public static final int RANGE1_READ_LENGTH = 2; //Number of byte to read

    public I2cDevice RANGE1;
    public I2cDeviceSynch RANGE1Reader;

    @Override
    public void runOpMode() throws InterruptedException {

        telemetry.addData("Status", "Initialized");
        telemetry.update();

        RANGE1 = hardwareMap.i2cDevice.get("range");
        RANGE1Reader = new I2cDeviceSynchImpl(RANGE1, RANGE1ADDRESS, false);
        RANGE1Reader.engage();

        waitForStart();
        runtime.reset();

        while (opModeIsActive()) {
            range1Cache = RANGE1Reader.read(RANGE1_REG_START, RANGE1_READ_LENGTH);

            telemetry.addData("Ultra Sonic", range1Cache[0] & 0xFF);
            telemetry.addData("ODS", range1Cache[1] & 0xFF);
            telemetry.addData("Status", "Run Time: " + runtime.toString());
            telemetry.update();

            idle();
        }
    }
}

package org.firstinspires.ftc.teamcode;

/*
Modern Robotics Range Sensors Example
Created 10/31/2016 by Colton Mehlhoff of Modern Robotics using FTC SDK 2.35
Reuse permitted with credit where credit is due

Configuration:
I2CDevice "range28" (MRI Range Sensor with default I2C address 0x28
I2CDevice "range2a" (MRI Color Sensor with I2C address 0x2a

ModernRoboticsI2cGyro is not being used because it does not support .setI2CAddr().

To change range sensor I2C Addresses, go to http://modernroboticsedu.com/mod/lesson/view.php?id=96
Support is available by emailing support@modernroboticsinc.com.
*/


import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.I2cAddr;
import com.qualcomm.robotcore.hardware.I2cDevice;
import com.qualcomm.robotcore.hardware.I2cDeviceSynch;
import com.qualcomm.robotcore.hardware.I2cDeviceSynchImpl;
import com.qualcomm.robotcore.util.ElapsedTime;


@TeleOp(name = "Range Sensors", group = "MRI")
//@Disabled
public class MRI_Range_Sensors extends OpMode {

    /* Declare OpMode members. */
    private ElapsedTime runtime = new ElapsedTime();

    byte[] rangeAcache;
    byte[] rangeCcache;

    I2cDevice rangeA;
    I2cDevice rangeC;
    I2cDeviceSynch rangeAreader;
    I2cDeviceSynch rangeCreader;

    @Override
    public void init() {
        telemetry.addData("Status", "Initialized");

        rangeA = hardwareMap.i2cDevice.get("range28");
        rangeC = hardwareMap.i2cDevice.get("range2a");

        rangeAreader = new I2cDeviceSynchImpl(rangeA, I2cAddr.create8bit(0x28), false);
        rangeCreader = new I2cDeviceSynchImpl(rangeC, I2cAddr.create8bit(0x2a), false);

        rangeAreader.engage();
        rangeCreader.engage();
    }

    @Override
    public void loop() {
        telemetry.addData("Status", "Running: " + runtime.toString());

        rangeAcache = rangeAreader.read(0x04, 2);  //Read 2 bytes starting at 0x04
        rangeCcache = rangeCreader.read(0x04, 2);

        int RUS = rangeCcache[0] & 0xFF;   //Ultrasonic value is at index 0. & 0xFF creates a value between 0 and 255 instead of -127 to 128
        int LUS = rangeAcache[0] & 0xFF;
        int RODS = rangeCcache[1] & 0xFF;
        int LODS = rangeAcache[1] & 0xFF;

        //display values
        telemetry.addData("1 A US", LUS);
        telemetry.addData("2 A ODS", LODS);
        telemetry.addData("3 C US", RUS);
        telemetry.addData("4 C ODS", RODS);
    }
}