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  package org.firstinspires.ftc.robotcontroller.external.samples;
  
  import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;
  import com.qualcomm.robotcore.eventloop.opmode.Disabled;
  import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
  import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
  import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
  
  /*
   * This OpMode illustrates how to use the Modern Robotics Range Sensor.
   *
   * The OpMode assumes that the range sensor is configured with a name of "sensor_range".
   *
   * 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 <a href="http://modernroboticsinc.com/range-sensor">MR Range Sensor</a>
   */
  @TeleOp(name = "Sensor: MR range sensor", group = "Sensor")
  @Disabled   // comment out or remove this line to enable this OpMode
  public class SensorMRRangeSensor extends LinearOpMode {
  
      ModernRoboticsI2cRangeSensor rangeSensor;
  
      @Override public void runOpMode() {
  
          // get a reference to our compass
          rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "sensor_range");
  
          // wait for the start button to be pressed
          waitForStart();
  
          while (opModeIsActive()) {
              telemetry.addData("raw ultrasonic", rangeSensor.rawUltrasonic());
              telemetry.addData("raw optical", rangeSensor.rawOptical());
              telemetry.addData("cm optical", "%.2f cm", rangeSensor.cmOptical());
              telemetry.addData("cm", "%.2f cm", rangeSensor.getDistance(DistanceUnit.CM));
              telemetry.update();
          }
      }
  }
  