Merge pull request #2 from nobody-particular/main

Added driver

README.md

@@ -1,23 +1,24 @@
-# Header
-
-A description of the repository goes here.
+# Description:
+This repository contains a driver for integrating the [SparkFun Ultrasonic Distance Sensor - TCT40 (Qwiic)](https://www.sparkfun.com/products/24805), an I2C device, into the FTC SDK. You may want to use this sensor because, as of 2024, the walls of the competition area are clear, and so a conventional laser distance sensor would not be able to detect the wall. 
 
 # Installation:
 ## Step 1:
-Put instructions here:
+First, go to your `build.gradle` file and go to `repositories`. Add `maven { url "https://jitpack.io" }` as a repository. (If it's already there, don't do anything.)
 ```Java
 repositories {
-
+  // Your other stuff here...
+  maven { url "https://jitpack.io" }
 }
 ```
 
 ## Step 2:
-Then more instructions here:
+Then, go to `dependencies` in the same `build.gradle` file. Add `com.github.SwerveRobotics:UltrasonicDistanceSensor:0.0.1` as a dependency.
 ```Java
 dependencies {
-
+  // Your other stuff here...
+  implementation 'com.github.SwerveRobotics:UltrasonicDistanceSensor:0.0.1'
 }
 ```
 
 ## Step 3:
-Last instructions here.
+Now, you may type `import org.swerverobotics.ftc.UltrasonicDistanceSensor` in one of your Java class files to import the driver!

src/main/java/org/swerverobotics/ftc/UltrasonicDistanceSensor.java

@@ -1,5 +1,45 @@
 package org.swerverobotics.ftc;
 
-public class UltrasonicDistanceSensor {
+import com.qualcomm.robotcore.hardware.I2cAddr;
+import com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice;
+import com.qualcomm.robotcore.hardware.I2cDeviceSynchSimple;
+import com.qualcomm.robotcore.hardware.configuration.annotations.DeviceProperties;
+import com.qualcomm.robotcore.hardware.configuration.annotations.I2cDeviceType;
 
-}
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+
+@I2cDeviceType()
+@DeviceProperties(name = "SparkFun Ultrasonic Distance Sensor", description = "QWIIC Ultrasonic Distance Sensor TCT40", xmlTag = "QWIIC_ULTRASONIC_DISTANCE_SENSOR")
+public class UltrasonicDistanceSensor extends I2cDeviceSynchDevice<I2cDeviceSynchSimple> {
+    final int TRIGGER_AND_READ_REGISTER = 0x01;
+
+    public double getDistance(DistanceUnit distanceUnit) {
+        byte[] rawData = deviceClient.read(TRIGGER_AND_READ_REGISTER, 2);
+        int distance = ((rawData[0] & 0xff) << 8) | (rawData[1] & 0xff);
+        return distanceUnit.fromUnit(DistanceUnit.MM, distance);
+    }
+
+    @Override
+    protected boolean doInitialize() {
+        return true;
+    }
+
+    @Override
+    public Manufacturer getManufacturer() {
+        return Manufacturer.SparkFun;
+    }
+
+    @Override
+    public String getDeviceName() {
+        return "SparkFun Ultrasonic Distance Sensor";
+    }
+
+    private final static I2cAddr ADDRESS_I2C_DEFAULT = I2cAddr.create7bit(0x2F);
+
+    public UltrasonicDistanceSensor(I2cDeviceSynchSimple deviceClient, boolean deviceClientIsOwned) {
+        super(deviceClient, deviceClientIsOwned);
+
+        this.deviceClient.setI2cAddress(ADDRESS_I2C_DEFAULT);
+        super.registerArmingStateCallback(false);
+    }
+}