NextFTC Hardware/dev.nextftc.hardware.sensors/NextAnalogInput

NextAnalogInput

open class NextAnalogInput @JvmOverloads constructor(initializer: () -> AnalogInput, val customTransformation: (Double) -> Double = { n: Double -> n }, maxVoltage: Voltage = 3.3.volts) : AnalogFeedback

A wrapper around an AnalogInput that provides convenient access to raw voltage readings as well as a normalized, optionally transformed value.

The hardware device is resolved lazily, so constructing an instance of this class does not require the hardware map to be ready yet.

Inherits from AnalogFeedback so that any NextAnalogInput can also be used directly as a by-delegate returning an angle in radians (e.g. for feedback CR servos).

Parameters

initializer

A lambda that resolves and returns the underlying AnalogInput.

customTransformation

An optional transformation applied to the normalized voltage ratio (raw voltage divided by maxVoltage) before it is exposed via value. Defaults to the identity function.

maxVoltage

The voltage that corresponds to a normalized value of 1.0. Defaults to 3.3 volts.

Constructors

NextAnalogInput

@JvmOverloads

constructor(initializer: () -> AnalogInput, customTransformation: (Double) -> Double = { n: Double -> n }, maxVoltage: Voltage = 3.3.volts)

@JvmOverloads

constructor(name: String, customTransformation: (Double) -> Double = { n: Double -> n }, maxVoltage: Voltage = 3.3.volts)

Creates a NextAnalogInput by looking up the AnalogInput in the hardware map by its configured name.

@JvmOverloads

constructor(module: NextLynxModule, channel: Int, customTransformation: (Double) -> Double = { n: Double -> n }, maxVoltage: Voltage = 3.3.volts)

Creates a NextAnalogInput directly from a NextLynxModule and analog channel number, bypassing the hardware map.

Types

Companion

object Companion

Properties

customTransformation

val customTransformation: (Double) -> Double

maxVoltage

val maxVoltage: Voltage

rawVoltage

val rawVoltage: Voltage

The raw, untransformed voltage currently read from the analog input.

value

val value: Double

The normalized reading from the analog input, computed as rawVoltage divided by maxVoltage and passed through customTransformation.

Functions

getValue

open operator override fun getValue(thisRef: Any?, property: KProperty<*>): Double