com.qualcomm.hardware.hitechnic

Class HiTechnicNxtController

java.lang.Object

com.qualcomm.robotcore.hardware.I2cControllerPortDeviceImpl

com.qualcomm.hardware.hitechnic.HiTechnicNxtController

All Implemented Interfaces:

Engagable, HardwareDevice, I2cControllerPortDevice, RobotArmingStateNotifier.Callback

Direct Known Subclasses:

HiTechnicNxtDcMotorController, HiTechnicNxtServoController

public abstract class HiTechnicNxtController
extends I2cControllerPortDeviceImpl
implements Engagable, HardwareDevice

HiTechnicNxtController serves as a common implementation base for legacy motor and servo controllers. Its primary functionality is to keep track of user's intent as to whether or not a controller should be engaged with its underlying I2cDevice, and manage the state transitions associated with doing so.

Nested Class Summary

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

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
protected Context	context
protected I2cDevice	i2cDevice
protected I2cDeviceSynch	i2cDeviceSynch
protected boolean	isEngaged
protected boolean	isHardwareInitialized
protected boolean	isHooked

Fields inherited from class com.qualcomm.robotcore.hardware.I2cControllerPortDeviceImpl

controller, physicalPort

Constructor Summary

Constructors

Constructor and Description
HiTechnicNxtController(Context context, I2cController module, int physicalPort, I2cAddr i2cAddr)

Method Summary

Modifier and Type	Method and Description
protected void	adjustHookingToMatchEngagement()
void	close() Closes this device
protected void	controllerNowDisarmed() intended as a subclass hook
void	disengage() Disengage the object from underlying services it uses to render its function.
protected void	doHook()
protected void	doUnhook()
void	engage() (Re)enage the object with its underlying services.
protected abstract void	floatHardware()
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
protected void	hook()
protected abstract void	initializeHardware()
protected boolean	isArmed()
boolean	isEngaged() Returns whether the object is currently in the engaged state.
protected byte	read8(int ireg)
protected void	unhook()
protected void	write(int ireg, byte[] data)
protected void	write8(int ireg, byte data)

Methods inherited from class com.qualcomm.robotcore.hardware.I2cControllerPortDeviceImpl

controllerNowArmedOrPretending, finishConstruction, getI2cController, getPort, onModuleStateChange

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

getConnectionInfo, getDeviceName, getVersion, resetDeviceConfigurationForOpMode

Field Detail

context

protected Context context

isEngaged

protected boolean isEngaged

isHooked

protected boolean isHooked

i2cDevice

protected I2cDevice i2cDevice

i2cDeviceSynch

protected I2cDeviceSynch i2cDeviceSynch

isHardwareInitialized

protected boolean isHardwareInitialized

Constructor Detail

HiTechnicNxtController

public HiTechnicNxtController(Context context,
                              I2cController module,
                              int physicalPort,
                              I2cAddr i2cAddr)

Method Detail

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

close

public void close()

Description copied from interface: HardwareDevice

Closes this device

Specified by:

close in interface HardwareDevice

initializeHardware

protected abstract void initializeHardware()

floatHardware

protected abstract void floatHardware()

engage

public void engage()

Description copied from interface: Engagable

(Re)enage the object with its underlying services. If the object is presently engaged, this method has no effect.

Specified by:

engage in interface Engagable

disengage

public void disengage()

Description copied from interface: Engagable

Disengage the object from underlying services it uses to render its function. If the object is presently disenaged, this method has no effect.

Specified by:

disengage in interface Engagable

isEngaged

public boolean isEngaged()

Description copied from interface: Engagable

Returns whether the object is currently in the engaged state.

Specified by:

isEngaged in interface Engagable

Returns:

whether the object is currently in the engaged state.

controllerNowDisarmed

protected void controllerNowDisarmed()

Description copied from class: I2cControllerPortDeviceImpl

intended as a subclass hook

Overrides:

controllerNowDisarmed in class I2cControllerPortDeviceImpl

adjustHookingToMatchEngagement

protected void adjustHookingToMatchEngagement()

hook

protected void hook()

unhook

protected void unhook()

doHook

protected void doHook()

doUnhook

protected void doUnhook()

isArmed

protected boolean isArmed()

write8

protected void write8(int ireg,
                      byte data)

write

protected void write(int ireg,
                     byte[] data)

read8

protected byte read8(int ireg)