From f7d7997aac71fd125dea5753ccfb899905469924 Mon Sep 17 00:00:00 2001
From: Hankang Zhou <136044263+nobody-particular@users.noreply.github.com>
Date: Mon, 28 Oct 2024 19:58:47 -0700
Subject: [PATCH 1/4] Added driver

---
 .../ftc/UltrasonicDistanceSensor.java         | 44 ++++++++++++++++++-
 1 file changed, 42 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/swerverobotics/ftc/UltrasonicDistanceSensor.java b/src/main/java/org/swerverobotics/ftc/UltrasonicDistanceSensor.java
index 9a79e79..7f8305d 100644
--- a/src/main/java/org/swerverobotics/ftc/UltrasonicDistanceSensor.java
+++ b/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;
 
-}
\ No newline at end of file
+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);
+    }
+}

From 182b225018bb5a145eeaef95ac5376af22f8185d Mon Sep 17 00:00:00 2001
From: Hankang Zhou <136044263+nobody-particular@users.noreply.github.com>
Date: Tue, 29 Oct 2024 16:35:35 -0700
Subject: [PATCH 2/4] Added description and instructions in README.md

---
 README.md | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index e3f2f0e..a4e0b6d 100644
--- a/README.md
+++ b/README.md
@@ -1,23 +1,23 @@
 # Header
-
-A description of the repository goes here.
+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 {
-
+  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!

From cb7ced2815a0839f7185f202974349b20e763639 Mon Sep 17 00:00:00 2001
From: Hankang Zhou <136044263+nobody-particular@users.noreply.github.com>
Date: Tue, 29 Oct 2024 16:36:36 -0700
Subject: [PATCH 3/4] Added comment

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index a4e0b6d..104dbb5 100644
--- a/README.md
+++ b/README.md
@@ -15,6 +15,7 @@ repositories {
 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'
 }
 ```

From 1baeb7765095293942fa380715d81e2a7c8ad9f4 Mon Sep 17 00:00:00 2001
From: Hankang Zhou <136044263+nobody-particular@users.noreply.github.com>
Date: Tue, 29 Oct 2024 16:37:26 -0700
Subject: [PATCH 4/4] Added header

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 104dbb5..2322135 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# Header
+# 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: