com.qualcomm.hardware.matrix

Class MatrixServoController

java.lang.Object

com.qualcomm.hardware.matrix.MatrixServoController

All Implemented Interfaces:

HardwareDevice, ServoController

public class MatrixServoController
extends java.lang.Object
implements ServoController

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 ServoController.PwmStatus	pwmStatus
static int	SERVO_POSITION_MAX
protected double[]	servoCache

Constructor Summary

Constructors

Constructor and Description
MatrixServoController(MatrixMasterController master)

Method Summary

Modifier and Type	Method and Description
void	close() Closes this device
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 channel) Get the position of a servo at a given channel
int	getVersion() Version
void	handleReadServo(MatrixI2cTransaction transaction, byte[] buffer)
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 channel, double position) Set the position of a servo at the given channel
void	setServoPosition(int channel, double position, byte speed)

Methods inherited from class java.lang.Object

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

Field Detail

SERVO_POSITION_MAX

public static final int SERVO_POSITION_MAX

See Also:

Constant Field Values

pwmStatus

protected ServoController.PwmStatus pwmStatus

servoCache

protected double[] servoCache

Constructor Detail

MatrixServoController

public MatrixServoController(MatrixMasterController master)

Method Detail

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 channel,
                             double position)

Description copied from interface: ServoController

Set the position of a servo at the given channel

Specified by:

setServoPosition in interface ServoController

Parameters:

channel - channel of servo

position - from 0.0 to 1.0

setServoPosition

public void setServoPosition(int channel,
                             double position,
                             byte speed)

getServoPosition

public double getServoPosition(int channel)

Description copied from interface: ServoController

Get the position of a servo at a given channel

Specified by:

getServoPosition in interface ServoController

Parameters:

channel - channel of servo

Returns:

position, scaled from 0.0 to 1.0

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

handleReadServo

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