com.qualcomm.hardware.matrix

Class MatrixDcMotorController

java.lang.Object

com.qualcomm.hardware.matrix.MatrixDcMotorController

All Implemented Interfaces:

DcMotorController, HardwareDevice

public class MatrixDcMotorController
extends java.lang.Object
implements DcMotorController

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 double	apiPowerMax
protected static double	apiPowerMin
protected MatrixMasterController	master
static byte	POWER_MAX
static byte	POWER_MIN

Constructor Summary

Constructors

Constructor and Description
MatrixDcMotorController(MatrixMasterController master)

Method Summary

Modifier and Type	Method and Description
void	close() Closes this device
protected DcMotor.RunMode	flagMatrixToRunMode(byte flag)
int	getBattery()
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.
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
void	handleReadBattery(byte[] buffer)
void	handleReadMode(MatrixI2cTransaction transaction, byte[] buffer)
void	handleReadPosition(MatrixI2cTransaction transaction, byte[] buffer)
void	handleReadTargetPosition(MatrixI2cTransaction transaction, byte[] buffer)
boolean	isBusy(int motor) Is the motor busy?
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
protected byte	runModeToFlagMatrix(DcMotor.RunMode mode)
void	setMotorMode(int motor, DcMotor.RunMode mode) Set the current motor mode.
void	setMotorPower(int motor, double power) Set the current motor power
void	setMotorPower(java.util.Set<DcMotor> motors, double power) Sets the power for a group of motors.
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.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

POWER_MAX

public static final byte POWER_MAX

See Also:

Constant Field Values

POWER_MIN

public static final byte POWER_MIN

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

master

protected MatrixMasterController master

Constructor Detail

MatrixDcMotorController

public MatrixDcMotorController(MatrixMasterController master)

Method Detail

runModeToFlagMatrix

protected byte runModeToFlagMatrix(DcMotor.RunMode mode)

flagMatrixToRunMode

protected DcMotor.RunMode flagMatrixToRunMode(byte flag)

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

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

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

setMotorPower

public void setMotorPower(java.util.Set<DcMotor> motors,
                          double power)

Sets the power for a group of motors.

Parameters:

motors - This provides an optimization specific to the Matrix controller by using the controller's pending bit to tell all of the motors to start at the same time.

power - The motor power to apply to all motors in the set.

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

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

getBattery

public int getBattery()

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

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

close

public void close()

Description copied from interface: HardwareDevice

Closes this device

Specified by:

close in interface HardwareDevice

handleReadBattery

public void handleReadBattery(byte[] buffer)

handleReadPosition

public void handleReadPosition(MatrixI2cTransaction transaction,
                               byte[] buffer)

handleReadTargetPosition

public void handleReadTargetPosition(MatrixI2cTransaction transaction,
                                     byte[] buffer)

handleReadMode

public void handleReadMode(MatrixI2cTransaction transaction,
                           byte[] buffer)