com.qualcomm.hardware.hitechnic

Class HiTechnicNxtDcMotorController

java.lang.Object

com.qualcomm.robotcore.hardware.I2cControllerPortDeviceImpl

com.qualcomm.hardware.hitechnic.HiTechnicNxtController

com.qualcomm.hardware.hitechnic.HiTechnicNxtDcMotorController

All Implemented Interfaces:

DcMotorController, Engagable, HardwareDevice, I2cControllerPortDevice, RobotArmingStateNotifier.Callback, VoltageSensor

public final class HiTechnicNxtDcMotorController
extends HiTechnicNxtController
implements DcMotorController, VoltageSensor

HiTechnic NXT DC Motor Controller

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 static byte[]	ADDRESS_MOTOR_CURRENT_ENCODER_VALUE_MAP
protected static byte[]	ADDRESS_MOTOR_MODE_MAP
protected static byte[]	ADDRESS_MOTOR_POWER_MAP
protected static byte[]	ADDRESS_MOTOR_TARGET_ENCODER_VALUE_MAP
protected static double	apiPowerMax
protected static double	apiPowerMin
protected static byte	bPowerBrake
protected static byte	bPowerFloat
protected static byte	bPowerMax
protected static byte	bPowerMin
static int	BUSY_THRESHOLD
protected static byte	cbEncoder
protected static byte	CHANNEL_MODE_FLAG_SELECT_RESET
protected static byte	CHANNEL_MODE_FLAG_SELECT_RUN_CONSTANT_SPEED_NXT
protected static byte	CHANNEL_MODE_FLAG_SELECT_RUN_POWER_CONTROL_ONLY_NXT
protected static byte	CHANNEL_MODE_FLAG_SELECT_RUN_TO_POSITION
protected static int	CHANNEL_MODE_MASK_BUSY
protected static int	CHANNEL_MODE_MASK_EMPTY_D5
protected static int	CHANNEL_MODE_MASK_ERROR
protected static int	CHANNEL_MODE_MASK_LOCK
protected static int	CHANNEL_MODE_MASK_NO_TIMEOUT
protected static int	CHANNEL_MODE_MASK_REVERSE
protected static int	CHANNEL_MODE_MASK_SELECTION
protected static I2cAddr	I2C_ADDRESS
protected static int	iRegWindowFirst
protected static int	iRegWindowMax
protected static int	MOTOR_FIRST
protected static int	MOTOR_LAST
protected static int	MOTOR_MAX
protected static int	OFFSET_UNUSED

Fields inherited from class com.qualcomm.hardware.hitechnic.HiTechnicNxtController

context, i2cDevice, i2cDeviceSynch, isEngaged, isHardwareInitialized, isHooked

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

controller, physicalPort

Constructor Summary

Constructors

Constructor and Description
HiTechnicNxtDcMotorController(Context context, LegacyModule module, int physicalPort)

Method Summary

Modifier and Type	Method and Description
protected void	controllerNowArmedOrPretending() Our controller is newly armed or pretending, or we're newly constructed on a controller
protected void	doHook()
protected void	doUnhook()
protected void	floatHardware()
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
int	getMotorCurrentPosition(int motor) Get the current motor position
DcMotor.RunMode	getMotorMode(int motor) Get the current motor mode.
double	getMotorPower(int motor) Get the current motor power
boolean	getMotorPowerFloat(int motor) Is motor power set to float?
int	getMotorTargetPosition(int motor) Get the current motor target position
MotorConfigurationType	getMotorType(int motor) Retrieves the motor type configured for this motor
DcMotor.ZeroPowerBehavior	getMotorZeroPowerBehavior(int motor) Returns the current zero power behavior of the motor.
int	getVersion() Version
double	getVoltage() Get the current voltage
void	initializeHardware()
protected void	initPID()
boolean	isBusy(int motor) Is the motor busy?
static DcMotor.RunMode	modeFromByte(byte flag)
static byte	modeToByte(DcMotor.RunMode mode)
void	resetDeviceConfigurationForOpMode() Resets the device's configuration to that which is expected at the beginning of an OpMode.
void	resetDeviceConfigurationForOpMode(int motor) Reset the state we hold for the given motor so that it's clean at the start of an opmode
void	setMotorMode(int motor, DcMotor.RunMode mode) Set the current motor mode.
void	setMotorPower(int motor, double power) Set the current motor power
protected void	setMotorPowerFloat(int motor)
void	setMotorTargetPosition(int motor, int position) Set the motor target position.
void	setMotorType(int motor, MotorConfigurationType motorType) Informs the motor controller of the type of a particular motor.
void	setMotorZeroPowerBehavior(int motor, DcMotor.ZeroPowerBehavior zeroPowerBehavior) Sets the behavior of the motor when zero power is applied.
protected void	validateMotor(int motor)

Methods inherited from class com.qualcomm.hardware.hitechnic.HiTechnicNxtController

adjustHookingToMatchEngagement, close, controllerNowDisarmed, disengage, engage, getManufacturer, hook, isArmed, isEngaged, read8, unhook, write, write8

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

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

close, getManufacturer

Field Detail

MOTOR_FIRST

protected static final int MOTOR_FIRST

See Also:

Constant Field Values

MOTOR_LAST

protected static final int MOTOR_LAST

See Also:

Constant Field Values

MOTOR_MAX

protected static final int MOTOR_MAX

See Also:

Constant Field Values

I2C_ADDRESS

protected static final I2cAddr I2C_ADDRESS

OFFSET_UNUSED

protected static final int OFFSET_UNUSED

See Also:

Constant Field Values

CHANNEL_MODE_MASK_SELECTION

protected static final int CHANNEL_MODE_MASK_SELECTION

See Also:

Constant Field Values

CHANNEL_MODE_MASK_LOCK

protected static final int CHANNEL_MODE_MASK_LOCK

See Also:

Constant Field Values

CHANNEL_MODE_MASK_REVERSE

protected static final int CHANNEL_MODE_MASK_REVERSE

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Constant Field Values

CHANNEL_MODE_MASK_NO_TIMEOUT

protected static final int CHANNEL_MODE_MASK_NO_TIMEOUT

See Also:

Constant Field Values

CHANNEL_MODE_MASK_EMPTY_D5

protected static final int CHANNEL_MODE_MASK_EMPTY_D5

See Also:

Constant Field Values

CHANNEL_MODE_MASK_ERROR

protected static final int CHANNEL_MODE_MASK_ERROR

See Also:

Constant Field Values

CHANNEL_MODE_MASK_BUSY

protected static final int CHANNEL_MODE_MASK_BUSY

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Constant Field Values

CHANNEL_MODE_FLAG_SELECT_RUN_POWER_CONTROL_ONLY_NXT

protected static final byte CHANNEL_MODE_FLAG_SELECT_RUN_POWER_CONTROL_ONLY_NXT

See Also:

Constant Field Values

CHANNEL_MODE_FLAG_SELECT_RUN_CONSTANT_SPEED_NXT

protected static final byte CHANNEL_MODE_FLAG_SELECT_RUN_CONSTANT_SPEED_NXT

See Also:

Constant Field Values

CHANNEL_MODE_FLAG_SELECT_RUN_TO_POSITION

protected static final byte CHANNEL_MODE_FLAG_SELECT_RUN_TO_POSITION

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Constant Field Values

CHANNEL_MODE_FLAG_SELECT_RESET

protected static final byte CHANNEL_MODE_FLAG_SELECT_RESET

See Also:

Constant Field Values

ADDRESS_MOTOR_POWER_MAP

protected static final byte[] ADDRESS_MOTOR_POWER_MAP

ADDRESS_MOTOR_MODE_MAP

protected static final byte[] ADDRESS_MOTOR_MODE_MAP

ADDRESS_MOTOR_TARGET_ENCODER_VALUE_MAP

protected static final byte[] ADDRESS_MOTOR_TARGET_ENCODER_VALUE_MAP

ADDRESS_MOTOR_CURRENT_ENCODER_VALUE_MAP

protected static final byte[] ADDRESS_MOTOR_CURRENT_ENCODER_VALUE_MAP

iRegWindowFirst

protected static final int iRegWindowFirst

See Also:

Constant Field Values

iRegWindowMax

protected static final int iRegWindowMax

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Constant Field Values

bPowerBrake

protected static final byte bPowerBrake

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Constant Field Values

bPowerFloat

protected static final byte bPowerFloat

See Also:

Constant Field Values

bPowerMax

protected static final byte bPowerMax

See Also:

Constant Field Values

bPowerMin

protected static final byte bPowerMin

See Also:

Constant Field Values

cbEncoder

protected static final byte cbEncoder

See Also:

Constant Field Values

apiPowerMin

protected static final double apiPowerMin

See Also:

Constant Field Values

apiPowerMax

protected static final double apiPowerMax

See Also:

Constant Field Values

BUSY_THRESHOLD

public static final int BUSY_THRESHOLD

See Also:

Constant Field Values

Constructor Detail

HiTechnicNxtDcMotorController

public HiTechnicNxtDcMotorController(Context context,
                                     LegacyModule module,
                                     int physicalPort)

Method Detail

controllerNowArmedOrPretending

protected void controllerNowArmedOrPretending()

Our controller is newly armed or pretending, or we're newly constructed on a controller

Overrides:

controllerNowArmedOrPretending in class I2cControllerPortDeviceImpl

doHook

protected void doHook()

Overrides:

doHook in class HiTechnicNxtController

initializeHardware

public void initializeHardware()

Specified by:

initializeHardware in class HiTechnicNxtController

doUnhook

protected void doUnhook()

Overrides:

doUnhook in class HiTechnicNxtController

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

Description copied from interface: HardwareDevice

Resets the device's configuration to that which is expected at the beginning of an OpMode. For example, motors will reset the their direction to 'forward'.

Specified by:

resetDeviceConfigurationForOpMode in interface HardwareDevice

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode(int motor)

Description copied from interface: DcMotorController

Reset the state we hold for the given motor so that it's clean at the start of an opmode

Specified by:

resetDeviceConfigurationForOpMode in interface DcMotorController

setMotorType

public void setMotorType(int motor,
                         MotorConfigurationType motorType)

Description copied from interface: DcMotorController

Informs the motor controller of the type of a particular motor. This is normally used only as part of the initialization of a motor.

Specified by:

setMotorType in interface DcMotorController

Parameters:

motor - port of the motor in question

motorType - the motor type.

getMotorType

public MotorConfigurationType getMotorType(int motor)

Description copied from interface: DcMotorController

Retrieves the motor type configured for this motor

Specified by:

getMotorType in interface DcMotorController

Parameters:

motor - the motor in question

Returns:

the configured type for that motor, or MotorConfigurationType.getUnspecifiedMotorType() if no type has been configured

setMotorMode

public void setMotorMode(int motor,
                         DcMotor.RunMode mode)

Description copied from interface: DcMotorController

Set the current motor mode. DcMotor.RunMode

Specified by:

setMotorMode in interface DcMotorController

Parameters:

motor - port of motor

mode - run mode

getMotorMode

public DcMotor.RunMode getMotorMode(int motor)

Description copied from interface: DcMotorController

Get the current motor mode. Returns the current "run mode".

Specified by:

getMotorMode in interface DcMotorController

Parameters:

motor - port of motor

Returns:

run mode

isBusy

public boolean isBusy(int motor)

Description copied from interface: DcMotorController

Is the motor busy?

Specified by:

isBusy in interface DcMotorController

Parameters:

motor - port of motor

Returns:

true if the motor is busy

setMotorPower

public void setMotorPower(int motor,
                          double power)

Description copied from interface: DcMotorController

Set the current motor power

Specified by:

setMotorPower in interface DcMotorController

Parameters:

motor - port of motor

power - from -1.0 to 1.0

getMotorPower

public double getMotorPower(int motor)

Description copied from interface: DcMotorController

Get the current motor power

Specified by:

getMotorPower in interface DcMotorController

Parameters:

motor - port of motor

Returns:

scaled from -1.0 to 1.0

setMotorZeroPowerBehavior

public void setMotorZeroPowerBehavior(int motor,
                                      DcMotor.ZeroPowerBehavior zeroPowerBehavior)

Description copied from interface: DcMotorController

Sets the behavior of the motor when zero power is applied.

Specified by:

setMotorZeroPowerBehavior in interface DcMotorController

zeroPowerBehavior - the behavior of the motor when zero power is applied.

getMotorZeroPowerBehavior

public DcMotor.ZeroPowerBehavior getMotorZeroPowerBehavior(int motor)

Description copied from interface: DcMotorController

Returns the current zero power behavior of the motor.

Specified by:

getMotorZeroPowerBehavior in interface DcMotorController

Returns:

the current zero power behavior of the motor.

setMotorPowerFloat

protected void setMotorPowerFloat(int motor)

getMotorPowerFloat

public boolean getMotorPowerFloat(int motor)

Description copied from interface: DcMotorController

Is motor power set to float?

Specified by:

getMotorPowerFloat in interface DcMotorController

Parameters:

motor - port of motor

Returns:

true of motor is set to float

setMotorTargetPosition

public void setMotorTargetPosition(int motor,
                                   int position)

Description copied from interface: DcMotorController

Set the motor target position. This takes in an integer, which is not scaled. Motor power should be positive if using run to position

Specified by:

setMotorTargetPosition in interface DcMotorController

Parameters:

motor - port of motor

position - range from Integer.MIN_VALUE to Integer.MAX_VALUE

getMotorTargetPosition

public int getMotorTargetPosition(int motor)

Description copied from interface: DcMotorController

Get the current motor target position

Specified by:

getMotorTargetPosition in interface DcMotorController

Parameters:

motor - port of motor

Returns:

integer, unscaled

getMotorCurrentPosition

public int getMotorCurrentPosition(int motor)

Description copied from interface: DcMotorController

Get the current motor position

Specified by:

getMotorCurrentPosition in interface DcMotorController

Parameters:

motor - port of motor

Returns:

integer, unscaled

validateMotor

protected void validateMotor(int motor)

modeFromByte

public static DcMotor.RunMode modeFromByte(byte flag)

modeToByte

public static byte modeToByte(DcMotor.RunMode mode)

initPID

protected void initPID()

floatHardware

protected void floatHardware()

Specified by:

floatHardware in class HiTechnicNxtController

getVoltage

public double getVoltage()

Description copied from interface: VoltageSensor

Get the current voltage

Specified by:

getVoltage in interface VoltageSensor

Returns:

voltage