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+/*%0A * Robotic Drive system.%0A */%0Apackage net.pvschools.robotics.javabot.practice.subsystems;%0A%0Aimport edu.wpi.first.wpilibj.Ultrasonic;%0Aimport edu.wpi.first.wpilibj.command.Subsystem;%0A%0A/**%0A * This is a generic sonar subsystem.%0A * Reference http://wpilib.screenstepslive.com/s/3120/m/7912/l/85774-measuring-robot-distance-to-a-surface-using-ultrasonic-sensors%0A * %0A * @author John H%0A */%0Apublic class Sonar extends Subsystem%0A%7B%0A    private final Ultrasonic Sonar;%0A    %0A    public Sonar(int PingChannel, int EchoChannel)%0A    %7B%0A        Sonar = new Ultrasonic(PingChannel, EchoChannel);%0A    %7D%0A    %0A    %0A    public void idle()%0A    %7B%0A    %7D%0A    %0A    public double getDistanceInInches()%7B%0A        Sonar.setAutomaticMode(true);%0A        return Sonar.getRangeInches();%0A    %7D%0A    %0A%0A    protected void initDefaultCommand()%0A    %7B%0A    %7D%0A%7D%0A%0A

Add Sonar subsystem