XRPRangefinder.h

Go to the documentation of this file.

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <frc/AnalogInput.h>
 
#include <units/length.h>
 
namespace frc {
 
/**
 * @ingroup xrp_api
 * @{
 */
 
/** This class represents the ultrasonic rangefinder on an XRP robot. */
class XRPRangefinder {
 public:
  /**
   * Get the measured distance in meters. Distance further than 4m will be
   * reported as 4m.
   *
   * @return distance in meters
   */
  units::meter_t GetDistance() const;
 
 private:
  frc::AnalogInput m_rangefinder{2};
};
 
/** @} */
 
}  // namespace frc