001// Copyright (c) FIRST and other WPILib contributors. 002// Open Source Software; you can modify and/or share it under the terms of 003// the WPILib BSD license file in the root directory of this project. 004 005package edu.wpi.first.wpilibj.xrp; 006 007import edu.wpi.first.wpilibj.AnalogInput; 008 009/** This class represents the ultrasonic rangefinder on an XRP robot. */ 010public class XRPRangefinder { 011 private final AnalogInput m_rangefinder = new AnalogInput(2); 012 013 /** 014 * Constructs an XRPRangefinder. 015 * 016 * <p>Only one instance of a XRPRangefinder is supported. 017 */ 018 public XRPRangefinder() {} 019 020 /** 021 * Get the measured distance in meters. Distance further than 4m will be reported as 4m. 022 * 023 * @return distance in meters 024 */ 025 public double getDistance() { 026 return (m_rangefinder.getVoltage() / 5.0) * 4.0; 027 } 028}