com.qualcomm.hardware.lynx

Class LynxDcMotorController

java.lang.Object

com.qualcomm.hardware.lynx.LynxCommExceptionHandler

com.qualcomm.hardware.lynx.LynxController

com.qualcomm.hardware.lynx.LynxDcMotorController

All Implemented Interfaces:

DcMotorController, DcMotorControllerEx, Engagable, HardwareDevice, HardwareDeviceHealth, RobotArmingStateNotifier, RobotArmingStateNotifier.Callback

public class LynxDcMotorController
extends LynxController
implements DcMotorController, DcMotorControllerEx

LynxDcMotorController implements motor controller semantics on Lynx module

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
protected class	LynxDcMotorController.MotorProperties

Nested classes/interfaces inherited from class com.qualcomm.hardware.lynx.LynxController

LynxController.PretendLynxModule

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

HardwareDevice.Manufacturer

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

HardwareDeviceHealth.HealthStatus

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

RobotArmingStateNotifier.ARMINGSTATE, RobotArmingStateNotifier.Callback

Field Summary

Fields

Modifier and Type	Field and Description
static int	apiMotorFirst
static int	apiMotorLast
static double	apiPowerFirst
static double	apiPowerLast
protected static boolean	DEBUG
protected LynxDcMotorController.MotorProperties[]	motors
static java.lang.String	TAG

Fields inherited from class com.qualcomm.hardware.lynx.LynxController

context, hardwareDeviceHealth, isEngaged, isHardwareInitialized, isHooked, registeredCallbacks

Fields inherited from class com.qualcomm.hardware.lynx.LynxCommExceptionHandler

tag

Constructor Summary

Constructors

Constructor and Description
LynxDcMotorController(Context context, LynxModule module)

Method Summary

Modifier and Type	Method and Description
protected void	doHook()
protected void	doUnhook()
void	floatHardware()
void	forgetLastKnown()
protected int	getDefaultMaxMotorSpeed(int motorZ)
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
protected int	getModuleAddress()
double	getMotorCurrent(int motor, CurrentUnit unit) Returns the current consumed by the indicated motor.
double	getMotorCurrentAlert(int motor, CurrentUnit unit) Returns the current alert for the indicated motor.
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
double	getMotorVelocity(int motor) Returns the velocity of the indicated motor in ticks per second.
double	getMotorVelocity(int motor, AngleUnit unit) Returns the velocity of the indicated motor.
DcMotor.ZeroPowerBehavior	getMotorZeroPowerBehavior(int motor) Returns the current zero power behavior of the motor.
PIDCoefficients	getPIDCoefficients(int motor, DcMotor.RunMode mode) Returns the coefficients used for PID control on the indicated motor when in the indicated mode
PIDFCoefficients	getPIDFCoefficients(int motor, DcMotor.RunMode mode) Returns the coefficients used for PIDF control on the indicated motor when in the indicated mode
protected java.lang.String	getTag()
void	initializeHardware()
protected DcMotor.RunMode	internalGetMotorChannelMode(int motorZ) like internalGetPublicMotorMode(int), but ALWAYS returns a value that can be set with LynxSetMotorChannelModeCommand.
protected DcMotor.RunMode	internalGetPublicMotorMode(int motorZ)
protected boolean	internalSetPIDFCoefficients(int motorZ, DcMotor.RunMode mode, PIDFCoefficients pidfCoefficients)
boolean	isBusy(int motor) Is the motor busy?
boolean	isMotorEnabled(int motor) Returns whether a particular motor on the controller is energized
boolean	isMotorOverCurrent(int motor) Returns whether the indicated motor current consumption has exceeded the alert threshold.
protected void	rememberPIDParams(int motorZ, ExpansionHubMotorControllerParamsState params)
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	setMotorCurrentAlert(int motor, double current, CurrentUnit unit) Sets the current alert for the indicated motor
void	setMotorDisable(int motor) Individually denergizes a particular motor
void	setMotorEnable(int motor) Individually energizes a particular motor
void	setMotorMode(int motor, DcMotor.RunMode mode) Set the current motor mode.
void	setMotorPower(int motor, double apiMotorPower) Set the current motor power
protected void	setMotorPowerFloat(int motor)
void	setMotorTargetPosition(int motor, int position) Set the motor target position.
void	setMotorTargetPosition(int motor, int position, int tolerance) Sets the target position and tolerance for a 'run to position' operation.
void	setMotorType(int motor, MotorConfigurationType motorType) Informs the motor controller of the type of a particular motor.
void	setMotorVelocity(int motor, double ticksPerSecond) Sets the target velocity of the indicated motor.
void	setMotorVelocity(int motor, double angularRate, AngleUnit unit) Sets the target velocity of the indicated motor.
void	setMotorZeroPowerBehavior(int motor, DcMotor.ZeroPowerBehavior zeroPowerBehavior) Sets the behavior of the motor when zero power is applied.
void	setPIDCoefficients(int motor, DcMotor.RunMode mode, PIDCoefficients pidCoefficients) Sets the coefficients used for PID control on the indicated motor when in the indicated mode
void	setPIDFCoefficients(int motor, DcMotor.RunMode mode, PIDFCoefficients pidfCoefficients) Sets the coefficients used for PIDF control on the indicated motor when in the indicated mode
protected void	updateMotorParams(int motorZ)

Methods inherited from class com.qualcomm.hardware.lynx.LynxController

adjustHookingToMatchEngagement, close, disengage, engage, finishConstruction, getArmingState, getConnectionInfo, getHealthStatus, getHealthStatusOverride, getManufacturer, getModule, getSerialNumber, getVersion, hook, isArmed, isEngaged, moduleNowArmedOrPretending, moduleNowDisarmed, onModuleStateChange, registerCallback, resetDeviceConfigurationForOpMode, setHealthStatus, setHealthyIfArmed, unhook, unregisterCallback

Methods inherited from class com.qualcomm.hardware.lynx.LynxCommExceptionHandler

handleException, handleSpecificException, handleSpecificException, handleSpecificException, handleSpecificException

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, getConnectionInfo, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Field Detail

apiMotorFirst

public static final int apiMotorFirst

See Also:

Constant Field Values

apiMotorLast

public static final int apiMotorLast

See Also:

Constant Field Values

apiPowerFirst

public static final double apiPowerFirst

See Also:

Constant Field Values

apiPowerLast

public static final double apiPowerLast

See Also:

Constant Field Values

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

DEBUG

protected static boolean DEBUG

motors

protected final LynxDcMotorController.MotorProperties[] motors

Constructor Detail

LynxDcMotorController

public LynxDcMotorController(Context context,
                             LynxModule module)
                      throws RobotCoreException,
                             java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

Method Detail

getTag

protected java.lang.String getTag()

Specified by:

getTag in class LynxController

initializeHardware

public void initializeHardware()
                        throws RobotCoreException,
                               java.lang.InterruptedException

Overrides:

initializeHardware in class LynxController

Throws:

RobotCoreException

java.lang.InterruptedException

doHook

protected void doHook()

Overrides:

doHook in class LynxController

doUnhook

protected void doUnhook()

Overrides:

doUnhook in class LynxController

forgetLastKnown

public void forgetLastKnown()

Overrides:

forgetLastKnown in class LynxController

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

Specified by:

getDeviceName in class LynxController

Returns:

device manufacturer and name

setMotorEnable

public void setMotorEnable(int motor)

Description copied from interface: DcMotorControllerEx

Individually energizes a particular motor

Specified by:

setMotorEnable in interface DcMotorControllerEx

Parameters:

motor - the port number of the motor on this controller

See Also:

DcMotorControllerEx.setMotorDisable(int), DcMotorControllerEx.isMotorEnabled(int)

setMotorDisable

public void setMotorDisable(int motor)

Description copied from interface: DcMotorControllerEx

Individually denergizes a particular motor

Specified by:

setMotorDisable in interface DcMotorControllerEx

Parameters:

motor - the port number of the motor on this controller

See Also:

DcMotorControllerEx.setMotorEnable(int), DcMotorControllerEx.isMotorEnabled(int)

isMotorEnabled

public boolean isMotorEnabled(int motor)

Description copied from interface: DcMotorControllerEx

Returns whether a particular motor on the controller is energized

Specified by:

isMotorEnabled in interface DcMotorControllerEx

Parameters:

motor - the port number of the motor on this controller

See Also:

DcMotorControllerEx.setMotorEnable(int), DcMotorControllerEx.setMotorDisable(int)

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

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

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.

rememberPIDParams

protected void rememberPIDParams(int motorZ,
                                 ExpansionHubMotorControllerParamsState params)

updateMotorParams

protected void updateMotorParams(int motorZ)

getDefaultMaxMotorSpeed

protected int getDefaultMaxMotorSpeed(int motorZ)

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

internalGetPublicMotorMode

protected DcMotor.RunMode internalGetPublicMotorMode(int motorZ)

See Also:

internalGetMotorChannelMode(int)

internalGetMotorChannelMode

protected DcMotor.RunMode internalGetMotorChannelMode(int motorZ)

like internalGetPublicMotorMode(int), but ALWAYS returns a value that can be set with LynxSetMotorChannelModeCommand. We also don't here update lastKnownMode.

See Also:

internalGetPublicMotorMode(int)

setMotorPower

public void setMotorPower(int motor,
                          double apiMotorPower)

Description copied from interface: DcMotorController

Set the current motor power

Specified by:

setMotorPower in interface DcMotorController

Parameters:

motor - port of motor

apiMotorPower - 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

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

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

setMotorTargetPosition

public void setMotorTargetPosition(int motor,
                                   int position,
                                   int tolerance)

Description copied from interface: DcMotorControllerEx

Sets the target position and tolerance for a 'run to position' operation.

Specified by:

setMotorTargetPosition in interface DcMotorControllerEx

Parameters:

motor - the motor number to be affected

position - the desired target position, in encoder ticks

tolerance - the tolerance of the desired target position, in encoder ticks

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

setMotorVelocity

public void setMotorVelocity(int motor,
                             double ticksPerSecond)

Description copied from interface: DcMotorControllerEx

Sets the target velocity of the indicated motor.

Specified by:

setMotorVelocity in interface DcMotorControllerEx

Parameters:

motor - the port number of the motor on this controller

ticksPerSecond - the new target rate for that motor, in ticks per second

setMotorVelocity

public void setMotorVelocity(int motor,
                             double angularRate,
                             AngleUnit unit)

Description copied from interface: DcMotorControllerEx

Sets the target velocity of the indicated motor.

Specified by:

setMotorVelocity in interface DcMotorControllerEx

Parameters:

motor - motor whose velocity is to be adjusted

angularRate - the new target rate for that motor, in 'unit's per second

unit - the unit inw which angularRate is expressed.

See Also:

DcMotorEx.setVelocity(double, AngleUnit)

getMotorVelocity

public double getMotorVelocity(int motor)

Description copied from interface: DcMotorControllerEx

Returns the velocity of the indicated motor in ticks per second.

Specified by:

getMotorVelocity in interface DcMotorControllerEx

Parameters:

motor - the motor whose velocity is desired

Returns:

the current target velocity of the motor in ticks per second

getMotorVelocity

public double getMotorVelocity(int motor,
                               AngleUnit unit)

Description copied from interface: DcMotorControllerEx

Returns the velocity of the indicated motor.

Specified by:

getMotorVelocity in interface DcMotorControllerEx

Parameters:

motor - the motor whose velocity is desired

unit - the angular unit in which the velocity is to be expressed

Returns:

the current velocity of the motor

See Also:

DcMotorEx.getVelocity(AngleUnit)

setPIDCoefficients

public void setPIDCoefficients(int motor,
                               DcMotor.RunMode mode,
                               PIDCoefficients pidCoefficients)

Description copied from interface: DcMotorControllerEx

Sets the coefficients used for PID control on the indicated motor when in the indicated mode

Specified by:

setPIDCoefficients in interface DcMotorControllerEx

Parameters:

motor - the motor whose PID coefficients are to be set

mode - the mode on that motor whose coefficients are to be set

pidCoefficients - the new coefficients to set

See Also:

DcMotorEx.setPIDCoefficients(DcMotor.RunMode, PIDCoefficients), DcMotorControllerEx.getPIDCoefficients(int, DcMotor.RunMode)

setPIDFCoefficients

public void setPIDFCoefficients(int motor,
                                DcMotor.RunMode mode,
                                PIDFCoefficients pidfCoefficients)

Description copied from interface: DcMotorControllerEx

Sets the coefficients used for PIDF control on the indicated motor when in the indicated mode

Specified by:

setPIDFCoefficients in interface DcMotorControllerEx

Parameters:

motor - the motor whose PIDF coefficients are to be set

mode - the mode on that motor whose coefficients are to be set

pidfCoefficients - the new coefficients to set

See Also:

DcMotorEx.setPIDFCoefficients(DcMotor.RunMode, PIDFCoefficients), DcMotorControllerEx.getPIDFCoefficients(int, DcMotor.RunMode)

internalSetPIDFCoefficients

protected boolean internalSetPIDFCoefficients(int motorZ,
                                              DcMotor.RunMode mode,
                                              PIDFCoefficients pidfCoefficients)

getPIDCoefficients

public PIDCoefficients getPIDCoefficients(int motor,
                                          DcMotor.RunMode mode)

Description copied from interface: DcMotorControllerEx

Returns the coefficients used for PID control on the indicated motor when in the indicated mode

Specified by:

getPIDCoefficients in interface DcMotorControllerEx

Parameters:

motor - the motor whose PID coefficients are desired

mode - the mode on that motor whose coefficients are to be queried

Returns:

the coefficients used for PID control on the indicated motor when in the indicated mode

See Also:

DcMotorEx.getPIDCoefficients(DcMotor.RunMode), DcMotorControllerEx.setPIDCoefficients(int, DcMotor.RunMode, PIDCoefficients)

getPIDFCoefficients

public PIDFCoefficients getPIDFCoefficients(int motor,
                                            DcMotor.RunMode mode)

Description copied from interface: DcMotorControllerEx

Returns the coefficients used for PIDF control on the indicated motor when in the indicated mode

Specified by:

getPIDFCoefficients in interface DcMotorControllerEx

Parameters:

motor - the motor whose PIDF coefficients are desired

mode - the mode on that motor whose coefficients are to be queried

Returns:

the coefficients used for PIDF control on the indicated motor when in the indicated mode

See Also:

DcMotorEx.getPIDCoefficients(DcMotor.RunMode), DcMotorControllerEx.setPIDFCoefficients(int, DcMotor.RunMode, PIDFCoefficients)

getMotorCurrent

public double getMotorCurrent(int motor,
                              CurrentUnit unit)

Description copied from interface: DcMotorControllerEx

Returns the current consumed by the indicated motor.

Specified by:

getMotorCurrent in interface DcMotorControllerEx

Parameters:

motor - motor whose current consumption is desired

unit - current units

Returns:

the current consumed by motor

See Also:

DcMotorEx.getCurrent(CurrentUnit)

getMotorCurrentAlert

public double getMotorCurrentAlert(int motor,
                                   CurrentUnit unit)

Description copied from interface: DcMotorControllerEx

Returns the current alert for the indicated motor.

Specified by:

getMotorCurrentAlert in interface DcMotorControllerEx

Parameters:

motor - motor whose alert is desired

unit - current units

Returns:

the current alert of motor

See Also:

DcMotorControllerEx.setMotorCurrentAlert(int, double, CurrentUnit), DcMotorEx.setCurrentAlert(double, CurrentUnit), DcMotorControllerEx.isMotorOverCurrent(int)

setMotorCurrentAlert

public void setMotorCurrentAlert(int motor,
                                 double current,
                                 CurrentUnit unit)

Description copied from interface: DcMotorControllerEx

Sets the current alert for the indicated motor

Specified by:

setMotorCurrentAlert in interface DcMotorControllerEx

Parameters:

motor - motor whose alert is to be set

current - current alert

unit - current units

See Also:

DcMotorControllerEx.getMotorCurrentAlert(int, CurrentUnit), DcMotorEx.getCurrentAlert(CurrentUnit), DcMotorControllerEx.isMotorOverCurrent(int)

isMotorOverCurrent

public boolean isMotorOverCurrent(int motor)

Description copied from interface: DcMotorControllerEx

Returns whether the indicated motor current consumption has exceeded the alert threshold.

Specified by:

isMotorOverCurrent in interface DcMotorControllerEx

Parameters:

motor - desired motor

Returns:

whether the indicated motor current consumption has exceeded the alert threshold

See Also:

DcMotorEx.isOverCurrent(), DcMotorControllerEx.getMotorCurrentAlert(int, CurrentUnit), DcMotorControllerEx.setMotorCurrentAlert(int, double, CurrentUnit)

floatHardware

public void floatHardware()

Overrides:

floatHardware in class LynxController

getModuleAddress

protected int getModuleAddress()