com.qualcomm.hardware.lynx

Class LynxServoController

java.lang.Object

com.qualcomm.hardware.lynx.LynxCommExceptionHandler

com.qualcomm.hardware.lynx.LynxController

com.qualcomm.hardware.lynx.LynxServoController

All Implemented Interfaces:

Engagable, HardwareDevice, HardwareDeviceHealth, ServoController, ServoControllerEx, RobotArmingStateNotifier, RobotArmingStateNotifier.Callback

public class LynxServoController
extends LynxController
implements ServoController, ServoControllerEx

Created by bob on 2016-03-12.

Nested Class Summary

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

LynxController.PretendLynxModule

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

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 double	apiPositionFirst
static double	apiPositionLast
static int	apiServoFirst
static int	apiServoLast
protected PwmControl.PwmRange[]	defaultPwmRanges
protected LastKnown<java.lang.Double>[]	lastKnownCommandedPosition
protected LastKnown<java.lang.Boolean>[]	lastKnownEnabled
protected PwmControl.PwmRange[]	pwmRanges
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
LynxServoController(Context context, LynxModule module)

Method Summary

Modifier and Type	Method and Description
void	floatHardware()
void	forgetLastKnown()
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of 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
PwmControl.PwmRange	getServoPwmRange(int servo) Returns the PWM range of the indicated servo on this controller.
protected java.lang.String	getTag()
void	initializeHardware()
boolean	isServoPwmEnabled(int servo) Returns whether the PWM is energized for this particular servo
void	pwmDisable() Disables all of the servos connected to this controller
void	pwmEnable() Enables all of the servos connected to this controller
void	setServoPosition(int servo, double position) Set the position of a servo at the given channel
void	setServoPwmDisable(int servo) Individually de-energizes the PWM for a particular servo
void	setServoPwmEnable(int servo) Individually energizes the PWM for a particular servo
void	setServoPwmRange(int servo, PwmControl.PwmRange range) Sets the PWM range of the indicated servo.
void	setServoType(int servo, ServoConfigurationType servoType) Sets the servo type for a particular servo

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

adjustHookingToMatchEngagement, close, disengage, doHook, doUnhook, 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

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

apiServoFirst

public static final int apiServoFirst

See Also:

Constant Field Values

apiServoLast

public static final int apiServoLast

See Also:

Constant Field Values

apiPositionFirst

public static final double apiPositionFirst

See Also:

Constant Field Values

apiPositionLast

public static final double apiPositionLast

See Also:

Constant Field Values

lastKnownCommandedPosition

protected final LastKnown<java.lang.Double>[] lastKnownCommandedPosition

lastKnownEnabled

protected final LastKnown<java.lang.Boolean>[] lastKnownEnabled

pwmRanges

protected PwmControl.PwmRange[] pwmRanges

defaultPwmRanges

protected PwmControl.PwmRange[] defaultPwmRanges

Constructor Detail

LynxServoController

public LynxServoController(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()

Overrides:

initializeHardware in class LynxController

floatHardware

public void floatHardware()

Overrides:

floatHardware 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

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

setServoPwmEnable

public void setServoPwmEnable(int servo)

Description copied from interface: ServoControllerEx

Individually energizes the PWM for a particular servo

Specified by:

setServoPwmEnable in interface ServoControllerEx

Parameters:

servo - the servo port number on the controller

See Also:

PwmControl.setPwmEnable()

setServoPwmDisable

public void setServoPwmDisable(int servo)

Description copied from interface: ServoControllerEx

Individually de-energizes the PWM for a particular servo

Specified by:

setServoPwmDisable in interface ServoControllerEx

Parameters:

servo - the servo port number on the controller

See Also:

PwmControl.setPwmDisable()

isServoPwmEnabled

public boolean isServoPwmEnabled(int servo)

Description copied from interface: ServoControllerEx

Returns whether the PWM is energized for this particular servo

Specified by:

isServoPwmEnabled in interface ServoControllerEx

Parameters:

servo - the servo port number on the controller

See Also:

PwmControl.isPwmEnabled()

setServoType

public void setServoType(int servo,
                         ServoConfigurationType servoType)

Description copied from interface: ServoControllerEx

Sets the servo type for a particular servo

Specified by:

setServoType in interface ServoControllerEx

Parameters:

servo - the servo port number on the controller

servoType - the ServoConfigurationType instance to set

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

setServoPwmRange

public void setServoPwmRange(int servo,
                             PwmControl.PwmRange range)

Description copied from interface: ServoControllerEx

Sets the PWM range of the indicated servo.

Specified by:

setServoPwmRange in interface ServoControllerEx

Parameters:

servo - the servo port number on the controller

range - the new range for the servo

See Also:

ServoControllerEx.getServoPwmRange(int), PwmControl.setPwmRange(PwmControl.PwmRange)

getServoPwmRange

public PwmControl.PwmRange getServoPwmRange(int servo)

Description copied from interface: ServoControllerEx

Returns the PWM range of the indicated servo on this controller.

Specified by:

getServoPwmRange in interface ServoControllerEx

Parameters:

servo - the servo port number on the controller

Returns:

the PWM range of the indicated servo on this controller.

See Also:

ServoControllerEx.setServoPwmRange(int, PwmControl.PwmRange), PwmControl.getPwmRange()