import edu.wpi.first.wpilibj.AnalogModule; //导入依赖的package包/类
public AbsoluteAnalogEncoder(int channel, double minVoltage, double maxVoltage, double offsetDegrees, int analogSampleRate, double analogTriggerThresholdDifference) { //TODO: Implement direction
    super(channel);
    _channel = channel;
    if (minVoltage >= maxVoltage) throw new IllegalArgumentException("Minimum voltage must be less than maximum voltage");
    if (offsetDegrees < 0 || offsetDegrees > 360) throw new IllegalArgumentException("Offset must be between 0 and 360 degrees");
    
    // Initialize analog trigger //
    _analogTrigger = new AnalogTrigger(channel);
    _analogTrigger.setFiltered(true);
    _analogTrigger.setLimitsVoltage(minVoltage + analogTriggerThresholdDifference, maxVoltage - analogTriggerThresholdDifference);
    AnalogTriggerOutput _analogTriggerFalling = new AnalogTriggerOutput(_analogTrigger, AnalogTriggerOutput.Type.kFallingPulse);
    AnalogTriggerOutput _analogTriggerRising = new AnalogTriggerOutput(_analogTrigger, AnalogTriggerOutput.Type.kRisingPulse);
    
    // Set analog module sampling rate //        
    AnalogModule module = (AnalogModule) Module.getModule(ModulePresence.ModuleType.kAnalog, DEFAULT_ANALOG_MODULE);
    module.setSampleRate(analogSampleRate);
    
    // Initialize turn counter //
    _turnCounter = new Counter();
    _turnCounter.setUpDownCounterMode();
    _turnCounter.setUpSource(_analogTriggerRising);
    _turnCounter.setDownSource(_analogTriggerFalling);
    _turnCounter.start();
    
    _minVoltage = minVoltage;
    _maxVoltage = maxVoltage;
    _offsetDegrees = offsetDegrees;
}
 

import edu.wpi.first.wpilibj.AnalogModule; //导入依赖的package包/类
private static byte [] createAnalogPacket(int module) {
		byte [] data = new byte[9 + headerSize];
		generateHeader(data, 0, headerSize, 1);
		data[headerSize] = (byte)module;
		for (int i = 0; i < 8; i++) {
			data[i+headerSize+1] = (byte)(5 / AnalogModule.getInstance(module).getVoltage(i+1) * 255);
//			data[i+headerSize+1] = 0;
		}
		return data;
	}
 

import edu.wpi.first.wpilibj.AnalogModule; //导入依赖的package包/类
/**
 * Constructor that uses the default module slot
 * 
 * @param analogChannel channel the ultrasonic sensor is connected to on the
 *                      cRIO 9201 module.
 */
public UltraSonicSensor(int analogChannel)
{
    channel = analogChannel;
    ultrasonicSensor =  AnalogModule.getInstance(1);
}
 

import edu.wpi.first.wpilibj.AnalogModule; //导入依赖的package包/类
/**
 * Constructor that uses the default module slot
 *
 * @param analogChannel channel the ultrasonic sensor is connected to on the
 * cRIO 9201 module.
 */
public Ultrasonic(int analogChannel) {
    channel = analogChannel;
    ultrasonicSensor = AnalogModule.getInstance(1);
}