Package org.horizon36596.simloop.fakehardware

Class FakeDistanceSensor

java.lang.Object

org.horizon36596.simloop.fakehardware.AbstractFakeDevice

org.horizon36596.simloop.fakehardware.FakeDistanceSensor

All Implemented Interfaces:

com.qualcomm.robotcore.hardware.DistanceSensor, com.qualcomm.robotcore.hardware.HardwareDevice, FakeDevice

public class FakeDistanceSensor
extends AbstractFakeDevice
implements com.qualcomm.robotcore.hardware.DistanceSensor

Fake DistanceSensor modelled on the REV 2m Distance Sensor (a VL53L0X time-of-flight chip). Unchanged robot code resolves it with hardwareMap.get(DistanceSensor.class, name) and reads getDistance(DistanceUnit) exactly as it does on the real robot.

Two ways to drive it

• Scripted: setDistance(DistanceUnit, double) and setNothingInRange() take effect at once.
• From a source: setDistanceSource(DistanceUnit, DoubleSupplier) hands the fake something to ask once per update(double), such as a org.horizon36596.simloop.sensor.RangeFinder casting a ray from the sensor's mount to the field walls and game pieces. Asking on the tick, not on every read, keeps the getter a pure read.

Whichever was called last wins: a scripted value clears any source.

What the robot reads, read out of the SDK 12.0 VL53L0X bytecode

• Whole millimetres. The chip reports an integer number of millimetres; the driver divides it by 10 for CM, 1000 for METER and 25.4 for INCH, and returns it unchanged for MM. This fake rounds the true distance to the nearest millimetre and divides the same way, so a reading is the same double a robot would print.
• Nothing in range is a large number, not the SDK's sentinel. The REV 2m driver never returns DistanceSensor.distanceOutOfRange: it passes on whatever the chip reports, and with no target in range that is the chip's own "no target" value (REV_2M_NO_TARGET_MM), which reads as roughly 819 cm or 322 in. Robot code that tests == distanceOutOfRange never sees a match on a real REV 2m, and in this sim it does not either. A sensor whose driver does return the sentinel is built with new FakeDistanceSensor(maxRangeMm, DistanceSensor.distanceOutOfRange); the sentinel is then returned as it is in every unit, never divided, so the comparison works.
• Metadata: device name "REV 2M ToF Distance Sensor" and manufacturer Other, as the driver reports.

Not modelled: noise, the sensor's field of view (a ray caster decides what it sees), the target's reflectivity, the chip's timing budget and the driver's timeout (which reads 65535 mm). The SDK's concrete Rev2mDistanceSensor class is not faked, so hardwareMap.get( Rev2mDistanceSensor.class, name) does not resolve; robot code that asks for the DistanceSensor interface, as the SDK's own sample does, works.

Deterministic: no clock, no randomness. A fresh sensor sees nothing in range.

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

com.qualcomm.robotcore.hardware.HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field	Description
static final double	REV_2M_MAX_RANGE_MM	The farthest target a REV 2m sees, millimetres.
static final double	REV_2M_NO_TARGET_MM	What a REV 2m reports with nothing in range, millimetres.

Fields inherited from interface com.qualcomm.robotcore.hardware.DistanceSensor

distanceOutOfRange

Constructor Summary

Constructors

Constructor	Description
FakeDistanceSensor()	A REV 2m Distance Sensor: REV_2M_MAX_RANGE_MM range, REV_2M_NO_TARGET_MM when nothing is in range.
FakeDistanceSensor(double maxRangeMm, double outOfRangeReadingMm)	A range sensor with its own range and its own "nothing in range" reading.

Method Summary

Modifier and Type	Method	Description
String	getDeviceName()	Returns "REV 2M ToF Distance Sensor", the string Rev2mDistanceSensor.getDeviceName returns.
double	getDistance(org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit unit)	The distance the sensor reports: the true distance rounded to whole millimetres, or the out-of-range reading when nothing is within range, converted the way the SDK's VL53L0X driver converts it (see the class javadoc).
double	getMaxRangeMm()	Returns the farthest target the sensor reports, millimetres.
double	getOutOfRangeReadingMm()	Returns what the sensor reports with nothing in range, millimetres, or the SDK's sentinel.
int	getVersion()	Returns 1, as the SDK's I2C device drivers report.
boolean	isTargetInRange()	Returns true when the current target is within the sensor's range, so a reading is a real distance.
void	setDistance(org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit unit, double distance)	Put a target distance away from the sensor's face, from now on.
void	setDistanceSource(org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit unit, DoubleSupplier source)	Ask source how far the target is on every update(double) from now on.
void	setNothingInRange()	Take every target away from now on, so the sensor reports out of range.
void	update(double deltaTime)	Samples the source set with setDistanceSource(DistanceUnit, DoubleSupplier), if there is one.

Methods inherited from class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

close, getConnectionInfo, getManufacturer, resetDeviceConfigurationForOpMode

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getManufacturer, resetDeviceConfigurationForOpMode

Field Details

REV_2M_MAX_RANGE_MM

public static final double REV_2M_MAX_RANGE_MM

The farthest target a REV 2m sees, millimetres. SPEC: REV's product name and datasheet range, 2 m, in the driver's default long-range mode. A real sensor's range falls short of this on a dark or angled target; that is not modelled.

See Also:

• Constant Field Values

REV_2M_NO_TARGET_MM

public static final double REV_2M_NO_TARGET_MM

What a REV 2m reports with nothing in range, millimetres. NEEDS MEASUREMENT (2026-09-28): 8190 mm is the VL53L0X "no target" reading FTC teams widely report from this sensor (819 cm, 322.4 in); it has not been read off this team's sensor. The SDK driver passes the chip's number straight through, so whatever the chip sends is what robot code sees.

See Also:

• Constant Field Values

Constructor Details

FakeDistanceSensor

public FakeDistanceSensor()

A REV 2m Distance Sensor: REV_2M_MAX_RANGE_MM range, REV_2M_NO_TARGET_MM when nothing is in range.

FakeDistanceSensor

public FakeDistanceSensor(double maxRangeMm,
 double outOfRangeReadingMm)

A range sensor with its own range and its own "nothing in range" reading.

Parameters:

maxRangeMm - the farthest target the sensor reports, millimetres (> 0); anything farther reads as outOfRangeReadingMm

outOfRangeReadingMm - what the sensor reports with nothing in range, millimetres, or DistanceSensor.distanceOutOfRange for a driver that returns the SDK's sentinel (returned unconverted in every unit)

Throws:

IllegalArgumentException - if maxRangeMm is not positive and finite, or outOfRangeReadingMm is NaN or negative

Method Details

setDistance

public void setDistance(org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit unit,
 double distance)

Put a target distance away from the sensor's face, from now on. Clears any source. Sim-only: a real DistanceSensor has no such method.

Parameters:

unit - the unit distance is in

distance - how far the target is; +infinity means nothing is there, and anything past the sensor's range reads as out of range

Throws:

IllegalArgumentException - if unit is null, or distance is NaN or negative

setNothingInRange

public void setNothingInRange()

Take every target away from now on, so the sensor reports out of range. Clears any source.

setDistanceSource

public void setDistanceSource(org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit unit,
 DoubleSupplier source)

Ask source how far the target is on every update(double) from now on. Replaces any earlier source and, from the next tick, any scripted value. Pass a null source to stop asking; the sensor then keeps the last distance the source gave.

Parameters:

unit - the unit the source answers in

source - what decides how far the target is, asked once per harness tick; it may answer +infinity for nothing in view, never NaN or a negative number. May be null

Throws:

IllegalArgumentException - if source is not null and unit is

update

public void update(double deltaTime)

Samples the source set with setDistanceSource(DistanceUnit, DoubleSupplier), if there is one. A range sensor has no dynamics of its own.

Specified by:

update in interface FakeDevice

Parameters:

deltaTime - how far to advance, in seconds; unused

Throws:

IllegalArgumentException - if the source answers NaN or a negative distance

isTargetInRange

public boolean isTargetInRange()

Returns true when the current target is within the sensor's range, so a reading is a real distance.

Returns:

true when the current target is within the sensor's range, so a reading is a real distance

getMaxRangeMm

public double getMaxRangeMm()

Returns the farthest target the sensor reports, millimetres.

Returns:

the farthest target the sensor reports, millimetres

getOutOfRangeReadingMm

public double getOutOfRangeReadingMm()

Returns what the sensor reports with nothing in range, millimetres, or the SDK's sentinel.

Returns:

what the sensor reports with nothing in range, millimetres, or the SDK's sentinel

getDistance

public double getDistance(org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit unit)

The distance the sensor reports: the true distance rounded to whole millimetres, or the out-of-range reading when nothing is within range, converted the way the SDK's VL53L0X driver converts it (see the class javadoc).

Specified by:

getDistance in interface com.qualcomm.robotcore.hardware.DistanceSensor

Parameters:

unit - the unit to report in

Returns:

the reading in unit; the SDK's DistanceSensor.distanceOutOfRange unconverted if this sensor was built to report it

getDeviceName

public String getDeviceName()

Returns "REV 2M ToF Distance Sensor", the string Rev2mDistanceSensor.getDeviceName returns.

Specified by:

getDeviceName in interface com.qualcomm.robotcore.hardware.HardwareDevice

Overrides:

getDeviceName in class AbstractFakeDevice

Returns:

"REV 2M ToF Distance Sensor", the string Rev2mDistanceSensor.getDeviceName returns

getVersion

public int getVersion()

Returns 1, as the SDK's I2C device drivers report.

Specified by:

getVersion in interface com.qualcomm.robotcore.hardware.HardwareDevice

Overrides:

getVersion in class AbstractFakeDevice

Returns:

1, as the SDK's I2C device drivers report