Libraries.Robots.Spike.ForceSensor Documentation

The force sensor is an external device that is connected to the hub through a port. The force sensor can retrieve the amount of force applied to the force sensor, and detect if it has been pressed.

Example Code

use Libraries.Robots.Spike.ForceSensor
ForceSensor fs
boolean isForceSensorPressed = fs:IsPressed()

Inherits from: Libraries.Language.Object

Actions Documentation

Compare(Libraries.Language.Object object)

This action compares two object hash codes and returns an integer. The result is larger if this hash code is larger than the object passed as a parameter, smaller, or equal. In this case, -1 means smaller, 0 means equal, and 1 means larger. This action was changed in Quorum 7 to return an integer, instead of a CompareResult object, because the previous implementation was causing efficiency issues.

Parameters

Return

integer: The Compare result, Smaller, Equal, or Larger.

Example

Object o
Object t
integer result = o:Compare(t) //1 (larger), 0 (equal), or -1 (smaller)

Equals(Libraries.Language.Object object)

This action determines if two objects are equal based on their hash code values.

Parameters

Return

boolean: True if the hash codes are equal and false if they are not equal.

Example

use Libraries.Language.Object
use Libraries.Language.Types.Text
Object o
Text t
boolean result = o:Equals(t)

GetForce()

Returns the force applied to the force sensor in decinewtons from 0 to 100

Return

integer: Force, the force applied in decinewtons

Example

use Libraries.Robots.Spike.ForceSensor
ForceSensor fs
integer currentForce = fs:GetForce()

GetHashCode()

This action gets the hash code for an object.

Return

integer: The integer hash code of the object.

Example

Object o
integer hash = o:GetHashCode()

GetPort()

Returns the port number of the force sensor

Return

integer: Port number

Example

use Libraries.Robots.Spike.ForceSensor
ForceSensor fs
integer forceSensorPort = fs:GetPort()

GetRawForce()

Returns the raw uncallibrated force applied to the force sensor

Return

integer: Force, uncalibrated force applied

Example

use Libraries.Robots.Spike.ForceSensor
ForceSensor fs
integer currentRawForce = fs:GetRawForce()

IsPressed()

Returns true if the sensor is pressed, false if it is not pressed

Return

boolean: Pressed state, true if it's pressed, false if it's not

Example


use Libraries.Robots.Spike.ForceSensor
ForceSensor fs
boolean isForceSensorPressed = fs:IsPressed()

SetPort(integer port)

Sets the port number of the distance sensor object

Parameters

  • integer port: The port (A through F, or 0 through 5) the force sensor is attached to

Example

use Libraries.Robots.Spike.ForceSensor
use Libraries.Robots.Spike.Port
ForceSensor fs
Port port
fs:SetPort(port:A)