navXMotionDetectionOp.java

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package com.qualcomm.ftcrobotcontroller.opmodes;

import com.kauailabs.navx.ftc.AHRS;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.util.ElapsedTime;

import java.text.DecimalFormat;

/**
 *  navX-Micro Processed Data Mode Op
 * <p>
 * Acquires motion-in-progress indicator from navX-Micro
 * and displays it in the Robot DriveStation
 * as telemetry data.
 */
public class navXMotionDetectionOp extends OpMode {

  /* This is the port on the Core Device Interace Module */
  /* in which the navX-Micro is connected.  Modify this  */
  /* depending upon which I2C port you are using.        */
  private final int NAVX_DIM_I2C_PORT = 0;

  private String startDate;
  private ElapsedTime runtime = new ElapsedTime();
  private AHRS navx_device;

  @Override
  public void init() {
    navx_device = AHRS.getInstance(hardwareMap.deviceInterfaceModule.get("dim"),
            NAVX_DIM_I2C_PORT,
            AHRS.DeviceDataType.kProcessedData);
  }

  @Override
  public void stop() {
    navx_device.close();
  }
  /*
     * Code to run when the op mode is first enabled goes here
     * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start()
     */
  @Override
  public void init_loop() {
    telemetry.addData("navX Op Init Loop", runtime.toString());
  }

  /*
   * This method will be called repeatedly in a loop
   * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop()
   */
  @Override
  public void loop() {

      boolean connected = navx_device.isConnected();
      telemetry.addData("1 navX-Device", connected ?
              "Connected" : "Disconnected" );
      String gyrocal, motion;
      DecimalFormat df = new DecimalFormat("#.##");

      if ( connected ) {
          gyrocal = (navx_device.isCalibrating() ?
                  "CALIBRATING" : "Calibration Complete");
          motion = (navx_device.isMoving() ? "Moving" : "Not Moving");
          if ( navx_device.isRotating() ) {
              motion += ", Rotating";
          }
      } else {
          gyrocal =
            motion = "-------";
      }
      telemetry.addData("2 GyroAccel", gyrocal );
      telemetry.addData("3 Motion", motion);
  }

}