LibCu Software Library¶
The LibCu C++/Java software library supports Copperforge devices including the Lasershark (Cu//2A21). Both online and offline installations are supported.
LibCu follows WPILib/FRC vendor library standards and is compatible with WPILib 2020.+
Installation¶
Warning
LibCu is currently C++/Java only, and is not yet available for LabVIEW
Online Installation¶
If your development computer is connected to the internet, you should use the online method to install the LibCu C++/Java API:
Open your robot project in VSCode.
Click the WPILib icon in the top right or press Ctrl+Shift+P to open the WPILib/VS Code Command Palette.
Select Manage Vendor Libraries.
Select Install new library (online).
Enter the following installation URL and press Enter:
Offline Installation¶
Download the latest LibCu C++/Java API from the following URL:
Download and unzip the file into the
C:\Users\Public\wpilib\2020\directory:C:\Users\Public\wpilib\2020\mavenC:\Users\Public\wpilib\2020\vendordepsFollow the offline installation instructions on WPILib’s FRC-Docs Adding an Offline-installed Library page.
API Docs¶
namespace libcu
{
class Lasershark : public frc::Sendable,
public frc::SendableHelper<Lasershark>
{
public:
/**
* Construct a new Lasershark on a given digital input channel.
*
* @param channel The channel to which to attach.
*/
explicit Lasershark(int channel);
/**
* Construct a new Lasershark attached to a DigitalSource object.
*
* @param source The digital source to which to attach.
*/
explicit Lasershark(frc::DigitalSource &source);
/**
* Construct a new Lasershark attached to a DigitalSource object.
*
* @param source The digital source to which to attach.
*/
explicit Lasershark(frc::DigitalSource *source);
/**
* Construct a new Lasershark attached to a DigitalSource object.
*
* @param source The digital source to which to attach.
*/
explicit Lasershark(std::shared_ptr<frc::DigitalSource> source);
/**
* Get the distance reported by the LiDAR sensor. See WPILib Units library guide.
*/
units::foot_t GetDistance();
};
} // namespace libcu
package com.cuforge.libcu;
public class Lasershark implements Sendable {
/**
* Construct a new Lasershark on a given digital input channel.
*
* @param channel The channel to which to attach.
*/
public Lasershark(int channel);
/**
* Construct a new Lasershark attached to a DigitalSource object.
*
* @param source The digital source to which to attach.
*/
public Lasershark(DigitalSource source);
/**
* Get the distance reported by the LiDAR sensor in feet.
*/
public double getDistanceFeet();
/**
* Get the distance reported by the LiDAR sensor in inches.
*/
public double getDistanceInches();
/**
* Get the distance reported by the LiDAR sensor in centimeters.
*/
public double getDistanceCentimeters();
/**
* Get the distance reported by the LiDAR sensor in meters.
*/
public double getDistanceMeters();
}