content: /*
  Copyright (c) 2018 FIRST
  
  All rights reserved.
  
  Redistribution and use in source and binary forms, with or without modification,
  are permitted (subject to the limitations in the disclaimer below) provided that
  the following conditions are met:
  
  Redistributions of source code must retain the above copyright notice, this list
  of conditions and the following disclaimer.
  
  Redistributions in binary form must reproduce the above copyright notice, this
  list of conditions and the following disclaimer in the documentation and/or
  other materials provided with the distribution.
  
  Neither the name of FIRST nor the names of its contributors may be used to
  endorse or promote products derived from this software without specific prior
  written permission.
  
  NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
  LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
  THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
  THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
  package org.firstinspires.ftc.robotcontroller.external.samples;
  
  import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
  import com.qualcomm.robotcore.eventloop.opmode.Disabled;
  import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
  import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
  import com.qualcomm.robotcore.hardware.DistanceSensor;
  import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
  
  /*
   * This OpMode illustrates how to use the REV Robotics 2M Distance Sensor.
   *
   * The OpMode assumes that the sensor is configured with a name of "sensor_distance".
   *
   * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
   * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
   *
   * See the sensor's product page: https://www.revrobotics.com/rev-31-1505/
   */
  @TeleOp(name = "Sensor: REV2mDistance", group = "Sensor")
  @Disabled
  public class SensorREV2mDistance extends LinearOpMode {
  
      private DistanceSensor sensorDistance;
  
      @Override
      public void runOpMode() {
          // you can use this as a regular DistanceSensor.
          sensorDistance = hardwareMap.get(DistanceSensor.class, "sensor_distance");
  
          // you can also cast this to a Rev2mDistanceSensor if you want to use added
          // methods associated with the Rev2mDistanceSensor class.
          Rev2mDistanceSensor sensorTimeOfFlight = (Rev2mDistanceSensor) sensorDistance;
  
          telemetry.addData(">>", "Press start to continue");
          telemetry.update();
  
          waitForStart();
          while(opModeIsActive()) {
              // generic DistanceSensor methods.
              telemetry.addData("deviceName", sensorDistance.getDeviceName() );
              telemetry.addData("range", String.format("%.01f mm", sensorDistance.getDistance(DistanceUnit.MM)));
              telemetry.addData("range", String.format("%.01f cm", sensorDistance.getDistance(DistanceUnit.CM)));
              telemetry.addData("range", String.format("%.01f m", sensorDistance.getDistance(DistanceUnit.METER)));
              telemetry.addData("range", String.format("%.01f in", sensorDistance.getDistance(DistanceUnit.INCH)));
  
              // Rev2mDistanceSensor specific methods.
              telemetry.addData("ID", String.format("%x", sensorTimeOfFlight.getModelID()));
              telemetry.addData("did time out", Boolean.toString(sensorTimeOfFlight.didTimeoutOccur()));
  
              telemetry.update();
          }
      }
  
  }
  