import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor; //导入依赖的package包/类
@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();
        }
    }
 

import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor; //导入依赖的package包/类
@Override public void runOpMode() throws InterruptedException {

        // get a reference to our compass
        rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "range sensor");

        // 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();
            idle(); // Always call idle() at the bottom of your while(opModeIsActive()) loop
        }
    }
 

import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor; //导入依赖的package包/类
@Override public void runOpMode() throws InterruptedException {

        // 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();
        }
    }
 

import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor; //导入依赖的package包/类
/**
 * Constructor: Creates an instance of the object.
 *
 * @param hardwareMap specifies the global hardware map.
 * @param instanceName specifies the instance name.
 * @param filters specifies an array of filter objects, one for each axis, to filter sensor data. If no filter
 *                is used, this can be set to null.
 */
public FtcMRRangeSensor(HardwareMap hardwareMap, String instanceName, TrcFilter[] filters)
{
    super(instanceName, 1, filters);

    if (debugEnabled)
    {
        dbgTrace = new TrcDbgTrace(moduleName + "." + instanceName, tracingEnabled, traceLevel, msgLevel);
    }

    sensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, instanceName);
}
 

import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor; //导入依赖的package包/类
@Override
public void initRobot()
{
    hardwareMap.logDevices();
    dashboard = HalDashboard.getInstance();
    FtcRobotControllerActivity activity = (FtcRobotControllerActivity)hardwareMap.appContext;
    dashboard.setTextView((TextView)activity.findViewById(R.id.textOpMode));

    i2cRangeSensor = new FtcMRI2cRangeSensor("i2cRangeSensor");
    rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "rangeSensor");
}