HiTechnicNxtServoController (FtcRobotController API)

java.lang.Object
- com.qualcomm.robotcore.hardware.I2cControllerPortDeviceImpl
- - com.qualcomm.hardware.hitechnic.HiTechnicNxtController
  - - com.qualcomm.hardware.hitechnic.HiTechnicNxtServoController

All Implemented Interfaces:

Engagable, HardwareDevice, I2cControllerPortDevice, ServoController, RobotArmingStateNotifier.Callback
```
public final class HiTechnicNxtServoController
extends HiTechnicNxtController
implements ServoController
```
HiTechnic NXT Servo Controller

Nested Class Summary
- Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.ServoController
  ServoController.PwmStatus
- 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_CHANNEL_MAP`
`protected static int`	`ADDRESS_PWM`
`protected static double`	`apiPositionMax`
`protected static double`	`apiPositionMin`
`protected LastKnown<java.lang.Double>[]`	`commandedServoPositions`
`protected static I2cAddr`	`I2C_ADDRESS`
`protected static int`	`iRegWindowFirst`
`protected static int`	`iRegWindowMax`
`protected LastKnown<java.lang.Boolean>`	`lastKnownPwmEnabled`
`protected static byte`	`PWM_DISABLE`
`protected static byte`	`PWM_ENABLE`
`protected static byte`	`PWM_ENABLE_WITHOUT_TIMEOUT`
`protected static int`	`SERVO_FIRST`
`protected static int`	`SERVO_LAST`
`protected static double`	`servoPositionMax`
`protected static double`	`servoPositionMin`

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

HiTechnicNxtServoController(Context context, I2cController module, int physicalPort)

Constructors
Constructor and Description
`HiTechnicNxtServoController(Context context, I2cController module, int physicalPort)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`protected void`	`controllerNowArmedOrPretending()` intended as a subclass hook
`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.
`HardwareDevice.Manufacturer`	`getManufacturer()` Returns an indication of the manufacturer of this device.
`ServoController.PwmStatus`	`getPwmStatus()` Returns the enablement status of the collective set of servos connected to this controller
`double`	`getServoPosition(int servo)` Get the position of a servo at a given channel
`int`	`getVersion()` Version
`void`	`initializeHardware()`
`void`	`pwmDisable()` Disables all of the servos connected to this controller
`void`	`pwmEnable()` Enables all of the servos connected to this controller
`void`	`resetDeviceConfigurationForOpMode()` Resets the device's configuration to that which is expected at the beginning of an OpMode.
`void`	`setServoPosition(int servo, double position)` Set the position of a servo at the given channel

Methods inherited from class com.qualcomm.hardware.hitechnic.HiTechnicNxtController
adjustHookingToMatchEngagement, close, controllerNowDisarmed, disengage, engage, 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

- Field Detail
  - I2C_ADDRESS
```
protected static final I2cAddr I2C_ADDRESS
```
  - SERVO_FIRST
```
protected static final int SERVO_FIRST
```
    See Also:
    
    Constant Field Values
  - SERVO_LAST
```
protected static final int SERVO_LAST
```
    See Also:
    
    Constant Field Values
  - PWM_ENABLE
```
protected static final byte PWM_ENABLE
```
    See Also:
    
    Constant Field Values
  - PWM_ENABLE_WITHOUT_TIMEOUT
```
protected static final byte PWM_ENABLE_WITHOUT_TIMEOUT
```
    See Also:
    
    Constant Field Values
  - PWM_DISABLE
```
protected static final byte PWM_DISABLE
```
    See Also:
    
    Constant Field Values
  - ADDRESS_CHANNEL_MAP
```
protected static final byte[] ADDRESS_CHANNEL_MAP
```
  - ADDRESS_PWM
```
protected static final int ADDRESS_PWM
```
    See Also:
    
    Constant Field Values
  - iRegWindowFirst
```
protected static final int iRegWindowFirst
```
    See Also:
    
    Constant Field Values
  - iRegWindowMax
```
protected static final int iRegWindowMax
```
    See Also:
    
    Constant Field Values
  - apiPositionMin
```
protected static final double apiPositionMin
```
    See Also:
    
    Constant Field Values
  - apiPositionMax
```
protected static final double apiPositionMax
```
    See Also:
    
    Constant Field Values
  - servoPositionMin
```
protected static final double servoPositionMin
```
    See Also:
    
    Constant Field Values
  - servoPositionMax
```
protected static final double servoPositionMax
```
    See Also:
    
    Constant Field Values
  - commandedServoPositions
```
protected LastKnown<java.lang.Double>[] commandedServoPositions
```
  - lastKnownPwmEnabled
```
protected LastKnown<java.lang.Boolean> lastKnownPwmEnabled
```
- Constructor Detail
  - HiTechnicNxtServoController
```
public HiTechnicNxtServoController(Context context,
                                   I2cController module,
                                   int physicalPort)
```
- Method Detail
  - controllerNowArmedOrPretending
```
protected void controllerNowArmedOrPretending()
```
    Description copied from class: I2cControllerPortDeviceImpl
    
    intended as a subclass hook
    
    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
  - 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
    
    Overrides:
    
    getManufacturer in class HiTechnicNxtController
    
    Returns:
    
    the device's manufacturer
  - 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
  - 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
  - getVersion
```
public int getVersion()
```
    Description copied from interface: HardwareDevice
    
    Version
    
    Specified by:
    
    getVersion in interface HardwareDevice
    
    Returns:
    
    get the version of this device
  - pwmEnable
```
public void pwmEnable()
```
    Description copied from interface: ServoController
    
    Enables all of the servos connected to this controller
    
    Specified by:
    
    pwmEnable in interface ServoController
  - pwmDisable
```
public void pwmDisable()
```
    Description copied from interface: ServoController
    
    Disables all of the servos connected to this controller
    
    Specified by:
    
    pwmDisable in interface ServoController
  - getPwmStatus
```
public ServoController.PwmStatus getPwmStatus()
```
    Description copied from interface: ServoController
    
    Returns the enablement status of the collective set of servos connected to this controller
    
    Specified by:
    
    getPwmStatus in interface ServoController
    
    Returns:
    
    the enablement status of the collective set of servos connected to this controller
  - setServoPosition
```
public void setServoPosition(int servo,
                             double position)
```
    Description copied from interface: ServoController
    
    Set the position of a servo at the given channel
    
    Specified by:
    
    setServoPosition in interface ServoController
    
    Parameters:
    
    servo - channel of servo
    
    position - from 0.0 to 1.0
  - getServoPosition
```
public double getServoPosition(int servo)
```
    Description copied from interface: ServoController
    
    Get the position of a servo at a given channel
    
    Specified by:
    
    getServoPosition in interface ServoController
    
    Parameters:
    
    servo - channel of servo
    
    Returns:
    
    position, scaled from 0.0 to 1.0
  - floatHardware
```
protected void floatHardware()
```
    Specified by:
    
    floatHardware in class HiTechnicNxtController

Class HiTechnicNxtServoController

Nested Class Summary

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

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

Field Summary

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

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

Constructor Summary

Method Summary

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

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

Methods inherited from class java.lang.Object

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

Field Detail

I2C_ADDRESS

SERVO_FIRST

SERVO_LAST

PWM_ENABLE

PWM_ENABLE_WITHOUT_TIMEOUT

PWM_DISABLE

ADDRESS_CHANNEL_MAP

ADDRESS_PWM

iRegWindowFirst

iRegWindowMax

apiPositionMin

apiPositionMax

servoPositionMin

servoPositionMax

commandedServoPositions

lastKnownPwmEnabled

Constructor Detail

HiTechnicNxtServoController

Method Detail

controllerNowArmedOrPretending

doHook

initializeHardware

doUnhook

getManufacturer

getDeviceName

getConnectionInfo

resetDeviceConfigurationForOpMode

getVersion

pwmEnable

pwmDisable

getPwmStatus

setServoPosition

getServoPosition

floatHardware