Created Ultrasonic example (#85)

Author: mbardoeChoate

run_tests.sh

@@ -39,6 +39,7 @@ BASE_TESTS="
   tank-drive
   tank-drive-xbox-controller
   timed/src
+  ultrasonic
 "
 
 IGNORED_TESTS="

ultrasonic/robot.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+import wpilib
+from wpilib.shuffleboard import Shuffleboard
+from wpilib import SmartDashboard
+
+
+class MyRobot(wpilib.TimedRobot):
+    """
+    This is a sample program demonstrating how to read from a ping-response ultrasonic sensor with
+    the :class:`.Ultrasonic` class.
+    """
+
+    def robotInit(self):
+        # Creates a ping-response Ultrasonic object on DIO 1 and 2.
+        self.rangeFinder = wpilib.Ultrasonic(1, 2)
+
+        # Add the ultrasonic to the "Sensors" tab of the dashboard
+        # Data will update automatically
+        Shuffleboard.getTab("Sensors").add(self.rangeFinder)
+
+    def teleopPeriodic(self):
+        # We can read the distance in millimeters
+        distanceMillimeters = self.rangeFinder.getRangeMM()
+        # ... or in inches
+        distanceInches = self.rangeFinder.getRangeInches()
+
+        # We can also publish the data itself periodically
+        SmartDashboard.putNumber("Distance[mm]", distanceMillimeters)
+        SmartDashboard.putNumber("Distance[in]", distanceInches)
+
+    def testInit(self):
+        # By default, the Ultrasonic class polls all ultrasonic sensors every in a round-robin to prevent
+        # them from interfering from one another.
+        # However, manual polling is also possible -- notes that this disables automatic mode!
+        self.rangeFinder.ping()
+
+    def testPeriodic(self):
+        if self.rangeFinder.isRangeValid():
+            # Data is valid, publish it
+            SmartDashboard.putNumber("Distance[mm]", self.rangeFinder.getRangeMM())
+            SmartDashboard.putNumber("Distance[in]", self.rangeFinder.getRangeInches())
+
+            # Ping for next measurement
+            self.rangeFinder.ping()
+
+    def testExit(self):
+        # Enable automatic mode
+        self.rangeFinder.setAutomaticMode(True)
+
+
+if __name__ == "__main__":
+    wpilib.run(MyRobot)