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+/*%0D%0A * To change this template, choose Tools %7C Templates%0D%0A * and open the template in the editor.%0D%0A */%0D%0Apackage com.rmr662.frc2012.physical;%0D%0A%0D%0Aimport edu.wpi.first.wpilibj.AnalogModule;%0D%0A%0D%0A/**%0D%0A *%0D%0A * @author RMR Programming%0D%0A */%0D%0Apublic class RMRSonar %7B%0D%0A%0D%0A    private int slot;%0D%0A    private int channel;%0D%0A    private static final int TESTS = 10;%0D%0A    private static final double VOLTAGE_CONVERSION_FACTOR = 9.8e-3;%0D%0A    AnalogModule module;%0D%0A%0D%0A    public RMRSonar(int slot, int channel) %7B%0D%0A        this.slot = slot;%0D%0A        this.channel = channel;%0D%0A        AnalogModule module = AnalogModule.getInstance(channel);%0D%0A    %7D%0D%0A%0D%0A    public double getDistance() %7B%0D%0A%0D%0A        double sum = 0.0;%0D%0A%0D%0A        for (int counter = 0; counter %3C TESTS; counter++) %7B%0D%0A            sum += (module.getVoltage(channel) / VOLTAGE_CONVERSION_FACTOR);%0D%0A        %7D%0D%0A        return sum / TESTS;%0D%0A    %7D%0D%0A%7D%0D%0A

Add RMRSonar.java