org.firstinspires.ftc.robotcore.external.navigation

Class MotionDetection

java.lang.Object

org.firstinspires.ftc.robotcore.external.navigation.MotionDetection

All Implemented Interfaces:

android.hardware.SensorEventListener

public class MotionDetection
extends java.lang.Object
implements android.hardware.SensorEventListener

A class that will notify listeners when a phone is in motion.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static interface	MotionDetection.MotionDetectionListener
class	MotionDetection.Vector

Field Summary

Fields

Modifier and Type	Field and Description
protected MotionDetection.Vector	gravity

Constructor Summary

Constructors

Constructor and Description
MotionDetection()
MotionDetection(double detectionThreshold, int rateLimitSeconds)

Method Summary

Modifier and Type	Method and Description
protected MotionDetection.Vector	filter(android.hardware.SensorEvent sensorEvent) filter Taken straight from the google documentation for implementing a low pass filter for filtering out gravity.
boolean	isAvailable() Is the required sensor available on this device?
protected void	notifyListeners(double vector)
void	onAccuracyChanged(android.hardware.Sensor sensor, int i)
void	onSensorChanged(android.hardware.SensorEvent sensorEvent) Internal implementations of the SensorEventListener interface.
void	purgeListeners() purgeListeners
void	registerListener(MotionDetection.MotionDetectionListener listener) registerListener
void	startListening() Start processing sensor data.
void	stopListening() Stop processing sensor data.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

gravity

protected MotionDetection.Vector gravity

Constructor Detail

MotionDetection

public MotionDetection()

MotionDetection

public MotionDetection(double detectionThreshold,
                       int rateLimitSeconds)

Method Detail

filter

protected MotionDetection.Vector filter(android.hardware.SensorEvent sensorEvent)

filter Taken straight from the google documentation for implementing a low pass filter for filtering out gravity. See https://developer.android.com/reference/android/hardware/SensorEvent#values

Parameters:

sensorEvent - The sensor data spit out by android for the accelerometer.

Returns:

a Vector filtered of gravity's influence.

registerListener

public void registerListener(MotionDetection.MotionDetectionListener listener)

registerListener

purgeListeners

public void purgeListeners()

purgeListeners

isAvailable

public boolean isAvailable()

Is the required sensor available on this device?

startListening

public void startListening()

Start processing sensor data.

stopListening

public void stopListening()

Stop processing sensor data.

notifyListeners

protected void notifyListeners(double vector)

onSensorChanged

public void onSensorChanged(android.hardware.SensorEvent sensorEvent)

Internal implementations of the SensorEventListener interface.

Specified by:

onSensorChanged in interface android.hardware.SensorEventListener

onAccuracyChanged

public void onAccuracyChanged(android.hardware.Sensor sensor,
                              int i)

Specified by:

onAccuracyChanged in interface android.hardware.SensorEventListener