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 reflectance sensor pair on an XRP robot. */
010public class XRPReflectanceSensor {
011  private final AnalogInput m_leftSensor = new AnalogInput(0);
012  private final AnalogInput m_rightSensor = new AnalogInput(1);
013
014  /**
015   * Constructs an XRPReflectanceSensor.
016   *
017   * <p>Only one instance of a XRPReflectanceSensor is supported.
018   */
019  public XRPReflectanceSensor() {}
020
021  /**
022   * Returns the reflectance value of the left sensor.
023   *
024   * @return value between 0.0 (white) and 1.0 (black).
025   */
026  public double getLeftReflectanceValue() {
027    return m_leftSensor.getVoltage() / 5.0;
028  }
029
030  /**
031   * Returns the reflectance value of the right sensor.
032   *
033   * @return value between 0.0 (white) and 1.0 (black).
034   */
035  public double getRightReflectanceValue() {
036    return m_rightSensor.getVoltage() / 5.0;
037  }
038}