wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/Ultrasonic.html
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<div class="subTitle">edu.wpi.first.wpilibj</div>
<h2 title="Class Ultrasonic" class="title">Class Ultrasonic</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.SensorBase</a></li>
<li>
<ul class="inheritance">
<li>edu.wpi.first.wpilibj.Ultrasonic</li>
</ul>
</li>
</ul>
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<div class="description">
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<dl>
<dt>All Implemented Interfaces:</dt>
<dd><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a>, <a href="../../../../edu/wpi/first/wpilibj/PIDSource.html" title="interface in edu.wpi.first.wpilibj">PIDSource</a>, <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></dd>
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<pre>public class <span class="typeNameLabel">Ultrasonic</span>
extends <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a>
implements <a href="../../../../edu/wpi/first/wpilibj/PIDSource.html" title="interface in edu.wpi.first.wpilibj">PIDSource</a>, <a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a></pre>
<div class="block">Ultrasonic rangefinder class. The Ultrasonic rangefinder measures absolute distance based on the
round-trip time of a ping generated by the controller. These sensors use two transducers, a
speaker and a microphone both tuned to the ultrasonic range. A common ultrasonic sensor, the
Daventech SRF04 requires a short pulse to be generated on a digital channel. This causes the
chirp to be emitted. A second line becomes high as the ping is transmitted and goes low when the
echo is received. The time that the line is high determines the round trip distance (time of
flight).</div>
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<caption><span>Nested Classes</span><span class="tabEnd"> </span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Class and Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>static class </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.Unit.html" title="enum in edu.wpi.first.wpilibj">Ultrasonic.Unit</a></span></code>
<div class="block">The units to return when PIDGet is called.</div>
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<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Field and Description</th>
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<tr class="altColor">
<td class="colFirst"><code>protected <a href="../../../../edu/wpi/first/wpilibj/PIDSourceType.html" title="enum in edu.wpi.first.wpilibj">PIDSourceType</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#m_pidSource">m_pidSource</a></span></code> </td>
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<h3>Fields inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogInputChannels">kAnalogInputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogOutputChannels">kAnalogOutputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kDigitalChannels">kDigitalChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPCMModules">kPCMModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPChannels">kPDPChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPModules">kPDPModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPwmChannels">kPwmChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kRelayChannels">kRelayChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSolenoidChannels">kSolenoidChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSystemClockTicksPerMicrosecond">kSystemClockTicksPerMicrosecond</a></code></li>
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<h3>Constructor Summary</h3>
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
<tr>
<th class="colOne" scope="col">Constructor and Description</th>
</tr>
<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#Ultrasonic-edu.wpi.first.wpilibj.DigitalOutput-edu.wpi.first.wpilibj.DigitalInput-">Ultrasonic</a></span>(<a href="../../../../edu/wpi/first/wpilibj/DigitalOutput.html" title="class in edu.wpi.first.wpilibj">DigitalOutput</a> pingChannel,
<a href="../../../../edu/wpi/first/wpilibj/DigitalInput.html" title="class in edu.wpi.first.wpilibj">DigitalInput</a> echoChannel)</code>
<div class="block">Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo channel and a
DigitalOutput for the ping channel.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#Ultrasonic-edu.wpi.first.wpilibj.DigitalOutput-edu.wpi.first.wpilibj.DigitalInput-edu.wpi.first.wpilibj.Ultrasonic.Unit-">Ultrasonic</a></span>(<a href="../../../../edu/wpi/first/wpilibj/DigitalOutput.html" title="class in edu.wpi.first.wpilibj">DigitalOutput</a> pingChannel,
<a href="../../../../edu/wpi/first/wpilibj/DigitalInput.html" title="class in edu.wpi.first.wpilibj">DigitalInput</a> echoChannel,
<a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.Unit.html" title="enum in edu.wpi.first.wpilibj">Ultrasonic.Unit</a> units)</code>
<div class="block">Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo channel and a
DigitalOutput for the ping channel.</div>
</td>
</tr>
<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#Ultrasonic-int-int-">Ultrasonic</a></span>(int pingChannel,
int echoChannel)</code>
<div class="block">Create an instance of the Ultrasonic Sensor.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#Ultrasonic-int-int-edu.wpi.first.wpilibj.Ultrasonic.Unit-">Ultrasonic</a></span>(int pingChannel,
int echoChannel,
<a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.Unit.html" title="enum in edu.wpi.first.wpilibj">Ultrasonic.Unit</a> units)</code>
<div class="block">Create an instance of the Ultrasonic Sensor.</div>
</td>
</tr>
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<h3>Method Summary</h3>
<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation">
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Method and Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#free--">free</a></span>()</code>
<div class="block">Destructor for the ultrasonic sensor.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.Unit.html" title="enum in edu.wpi.first.wpilibj">Ultrasonic.Unit</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#getDistanceUnits--">getDistanceUnits</a></span>()</code>
<div class="block">Get the current DistanceUnit that is used for the PIDSource base object.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code><a href="../../../../edu/wpi/first/wpilibj/PIDSourceType.html" title="enum in edu.wpi.first.wpilibj">PIDSourceType</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#getPIDSourceType--">getPIDSourceType</a></span>()</code>
<div class="block">Get which parameter of the device you are using as a process control variable.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#getRangeInches--">getRangeInches</a></span>()</code>
<div class="block">Get the range in inches from the ultrasonic sensor.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#getRangeMM--">getRangeMM</a></span>()</code>
<div class="block">Get the range in millimeters from the ultrasonic sensor.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#getSmartDashboardType--">getSmartDashboardType</a></span>()</code>
<div class="block">Live Window code, only does anything if live window is activated.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></span>(<a href="../../../../edu/wpi/first/networktables/NetworkTable.html" title="class in edu.wpi.first.networktables">NetworkTable</a> subtable)</code>
<div class="block">Initializes a table for this <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a> object.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#isEnabled--">isEnabled</a></span>()</code>
<div class="block">Is the ultrasonic enabled.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#isRangeValid--">isRangeValid</a></span>()</code>
<div class="block">Check if there is a valid range measurement.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#pidGet--">pidGet</a></span>()</code>
<div class="block">Get the range in the current DistanceUnit for the PIDSource base object.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#ping--">ping</a></span>()</code>
<div class="block">Single ping to ultrasonic sensor.</div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#setAutomaticMode-boolean-">setAutomaticMode</a></span>(boolean enabling)</code>
<div class="block">Turn Automatic mode on/off.</div>
</td>
</tr>
<tr id="i12" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#setDistanceUnits-edu.wpi.first.wpilibj.Ultrasonic.Unit-">setDistanceUnits</a></span>(<a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.Unit.html" title="enum in edu.wpi.first.wpilibj">Ultrasonic.Unit</a> units)</code>
<div class="block">Set the current DistanceUnit that should be used for the PIDSource base object.</div>
</td>
</tr>
<tr id="i13" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#setEnabled-boolean-">setEnabled</a></span>(boolean enable)</code>
<div class="block">Set if the ultrasonic is enabled.</div>
</td>
</tr>
<tr id="i14" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#setPIDSourceType-edu.wpi.first.wpilibj.PIDSourceType-">setPIDSourceType</a></span>(<a href="../../../../edu/wpi/first/wpilibj/PIDSourceType.html" title="enum in edu.wpi.first.wpilibj">PIDSourceType</a> pidSource)</code>
<div class="block">Set which parameter of the device you are using as a process control variable.</div>
</td>
</tr>
<tr id="i15" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#startLiveWindowMode--">startLiveWindowMode</a></span>()</code>
<div class="block">Start having this sendable object automatically respond to value changes reflect the value on
the table.</div>
</td>
</tr>
<tr id="i16" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#stopLiveWindowMode--">stopLiveWindowMode</a></span>()</code>
<div class="block">Stop having this sendable object automatically respond to value changes.</div>
</td>
</tr>
<tr id="i17" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html#updateTable--">updateTable</a></span>()</code>
<div class="block">Update the table for this sendable object with the latest values.</div>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogInputChannel-int-">checkAnalogInputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogOutputChannel-int-">checkAnalogOutputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkDigitalChannel-int-">checkDigitalChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPChannel-int-">checkPDPChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPModule-int-">checkPDPModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPWMChannel-int-">checkPWMChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkRelayChannel-int-">checkRelayChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidChannel-int-">checkSolenoidChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidModule-int-">checkSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#getDefaultSolenoidModule--">getDefaultSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#setDefaultSolenoidModule-int-">setDefaultSolenoidModule</a></code></li>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h4>m_pidSource</h4>
<pre>protected <a href="../../../../edu/wpi/first/wpilibj/PIDSourceType.html" title="enum in edu.wpi.first.wpilibj">PIDSourceType</a> m_pidSource</pre>
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<h4>Ultrasonic</h4>
<pre>public Ultrasonic(int pingChannel,
int echoChannel,
<a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.Unit.html" title="enum in edu.wpi.first.wpilibj">Ultrasonic.Unit</a> units)</pre>
<div class="block">Create an instance of the Ultrasonic Sensor. This is designed to supchannel the Daventech SRF04
and Vex ultrasonic sensors.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>pingChannel</code> - The digital output channel that sends the pulse to initiate the sensor
sending the ping.</dd>
<dd><code>echoChannel</code> - The digital input channel that receives the echo. The length of time that
the echo is high represents the round trip time of the ping, and the
distance.</dd>
<dd><code>units</code> - The units returned in either kInches or kMilliMeters</dd>
</dl>
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<pre>public Ultrasonic(int pingChannel,
int echoChannel)</pre>
<div class="block">Create an instance of the Ultrasonic Sensor. This is designed to supchannel the Daventech SRF04
and Vex ultrasonic sensors. Default unit is inches.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>pingChannel</code> - The digital output channel that sends the pulse to initiate the sensor
sending the ping.</dd>
<dd><code>echoChannel</code> - The digital input channel that receives the echo. The length of time that
the echo is high represents the round trip time of the ping, and the
distance.</dd>
</dl>
</li>
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<pre>public Ultrasonic(<a href="../../../../edu/wpi/first/wpilibj/DigitalOutput.html" title="class in edu.wpi.first.wpilibj">DigitalOutput</a> pingChannel,
<a href="../../../../edu/wpi/first/wpilibj/DigitalInput.html" title="class in edu.wpi.first.wpilibj">DigitalInput</a> echoChannel,
<a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.Unit.html" title="enum in edu.wpi.first.wpilibj">Ultrasonic.Unit</a> units)</pre>
<div class="block">Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo channel and a
DigitalOutput for the ping channel.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>pingChannel</code> - The digital output object that starts the sensor doing a ping. Requires a
10uS pulse to start.</dd>
<dd><code>echoChannel</code> - The digital input object that times the return pulse to determine the
range.</dd>
<dd><code>units</code> - The units returned in either kInches or kMilliMeters</dd>
</dl>
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<h4>Ultrasonic</h4>
<pre>public Ultrasonic(<a href="../../../../edu/wpi/first/wpilibj/DigitalOutput.html" title="class in edu.wpi.first.wpilibj">DigitalOutput</a> pingChannel,
<a href="../../../../edu/wpi/first/wpilibj/DigitalInput.html" title="class in edu.wpi.first.wpilibj">DigitalInput</a> echoChannel)</pre>
<div class="block">Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo channel and a
DigitalOutput for the ping channel. Default unit is inches.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>pingChannel</code> - The digital output object that starts the sensor doing a ping. Requires a
10uS pulse to start.</dd>
<dd><code>echoChannel</code> - The digital input object that times the return pulse to determine the
range.</dd>
</dl>
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<h4>free</h4>
<pre>public void free()</pre>
<div class="block">Destructor for the ultrasonic sensor. Delete the instance of the ultrasonic sensor by freeing
the allocated digital channels. If the system was in automatic mode (round robin), then it is
stopped, then started again after this sensor is removed (provided this wasn't the last
sensor).</div>
<dl>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#free--">free</a></code> in class <code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></code></dd>
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<pre>public void setAutomaticMode(boolean enabling)</pre>
<div class="block">Turn Automatic mode on/off. When in Automatic mode, all sensors will fire in round robin,
waiting a set time between each sensor.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>enabling</code> - Set to true if round robin scheduling should start for all the ultrasonic
sensors. This scheduling method assures that the sensors are non-interfering
because no two sensors fire at the same time. If another scheduling algorithm
is preferred, it can be implemented by pinging the sensors manually and waiting
for the results to come back.</dd>
</dl>
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<pre>public void ping()</pre>
<div class="block">Single ping to ultrasonic sensor. Send out a single ping to the ultrasonic sensor. This only
works if automatic (round robin) mode is disabled. A single ping is sent out, and the counter
should count the semi-period when it comes in. The counter is reset to make the current value
invalid.</div>
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<pre>public boolean isRangeValid()</pre>
<div class="block">Check if there is a valid range measurement. The ranges are accumulated in a counter that will
increment on each edge of the echo (return) signal. If the count is not at least 2, then the
range has not yet been measured, and is invalid.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>true if the range is valid</dd>
</dl>
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<pre>public double getRangeInches()</pre>
<div class="block">Get the range in inches from the ultrasonic sensor. If there is no valid value yet, i.e. at
least one measurement hasn't completed, then return 0.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>double Range in inches of the target returned from the ultrasonic sensor.</dd>
</dl>
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<pre>public double getRangeMM()</pre>
<div class="block">Get the range in millimeters from the ultrasonic sensor. If there is no valid value yet, i.e.
at least one measurement hasn't completed, then return 0.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>double Range in millimeters of the target returned by the ultrasonic sensor.</dd>
</dl>
</li>
</ul>
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<h4>setPIDSourceType</h4>
<pre>public void setPIDSourceType(<a href="../../../../edu/wpi/first/wpilibj/PIDSourceType.html" title="enum in edu.wpi.first.wpilibj">PIDSourceType</a> pidSource)</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/PIDSource.html#setPIDSourceType-edu.wpi.first.wpilibj.PIDSourceType-">PIDSource</a></code></span></div>
<div class="block">Set which parameter of the device you are using as a process control variable.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/PIDSource.html#setPIDSourceType-edu.wpi.first.wpilibj.PIDSourceType-">setPIDSourceType</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/PIDSource.html" title="interface in edu.wpi.first.wpilibj">PIDSource</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>pidSource</code> - An enum to select the parameter.</dd>
</dl>
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</ul>
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<h4>getPIDSourceType</h4>
<pre>public <a href="../../../../edu/wpi/first/wpilibj/PIDSourceType.html" title="enum in edu.wpi.first.wpilibj">PIDSourceType</a> getPIDSourceType()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/PIDSource.html#getPIDSourceType--">PIDSource</a></code></span></div>
<div class="block">Get which parameter of the device you are using as a process control variable.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/PIDSource.html#getPIDSourceType--">getPIDSourceType</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/PIDSource.html" title="interface in edu.wpi.first.wpilibj">PIDSource</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the currently selected PID source parameter</dd>
</dl>
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<pre>public double pidGet()</pre>
<div class="block">Get the range in the current DistanceUnit for the PIDSource base object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/PIDSource.html#pidGet--">pidGet</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/PIDSource.html" title="interface in edu.wpi.first.wpilibj">PIDSource</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The range in DistanceUnit</dd>
</dl>
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</ul>
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<pre>public void setDistanceUnits(<a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.Unit.html" title="enum in edu.wpi.first.wpilibj">Ultrasonic.Unit</a> units)</pre>
<div class="block">Set the current DistanceUnit that should be used for the PIDSource base object.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>units</code> - The DistanceUnit that should be used.</dd>
</dl>
</li>
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<pre>public <a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.Unit.html" title="enum in edu.wpi.first.wpilibj">Ultrasonic.Unit</a> getDistanceUnits()</pre>
<div class="block">Get the current DistanceUnit that is used for the PIDSource base object.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The type of DistanceUnit that is being used.</dd>
</dl>
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<pre>public boolean isEnabled()</pre>
<div class="block">Is the ultrasonic enabled.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>true if the ultrasonic is enabled</dd>
</dl>
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<h4>setEnabled</h4>
<pre>public void setEnabled(boolean enable)</pre>
<div class="block">Set if the ultrasonic is enabled.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>enable</code> - set to true to enable the ultrasonic</dd>
</dl>
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<pre>public java.lang.String getSmartDashboardType()</pre>
<div class="block">Live Window code, only does anything if live window is activated.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html#getSmartDashboardType--">getSmartDashboardType</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The type of this <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</dd>
</dl>
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<h4>initTable</h4>
<pre>public void initTable(<a href="../../../../edu/wpi/first/networktables/NetworkTable.html" title="class in edu.wpi.first.networktables">NetworkTable</a> subtable)</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html#initTable-edu.wpi.first.networktables.NetworkTable-">Sendable</a></code></span></div>
<div class="block">Initializes a table for this <a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a> object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>subtable</code> - The table to put the values in.</dd>
</dl>
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<pre>public void updateTable()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#updateTable--">LiveWindowSendable</a></code></span></div>
<div class="block">Update the table for this sendable object with the latest values.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#updateTable--">updateTable</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a></code></dd>
</dl>
</li>
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<h4>startLiveWindowMode</h4>
<pre>public void startLiveWindowMode()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#startLiveWindowMode--">LiveWindowSendable</a></code></span></div>
<div class="block">Start having this sendable object automatically respond to value changes reflect the value on
the table.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#startLiveWindowMode--">startLiveWindowMode</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a></code></dd>
</dl>
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<h4>stopLiveWindowMode</h4>
<pre>public void stopLiveWindowMode()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#stopLiveWindowMode--">LiveWindowSendable</a></code></span></div>
<div class="block">Stop having this sendable object automatically respond to value changes.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html#stopLiveWindowMode--">stopLiveWindowMode</a></code> in interface <code><a href="../../../../edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.html" title="interface in edu.wpi.first.wpilibj.livewindow">LiveWindowSendable</a></code></dd>
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