ModernRoboticsUsbLegacyModule (FtcRobotController API)

java.lang.Object
- ArmableUsbDevice
- - com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice
  - - com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbI2cController
    - - com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbLegacyModule

All Implemented Interfaces:

ReadWriteRunnable.Callback, HardwareDevice, I2cController, LegacyModule
```
public class ModernRoboticsUsbLegacyModule
extends ModernRoboticsUsbI2cController
implements LegacyModule
```
Modern Robotics USB Legacy Module Use HardwareDeviceManager to create an instance of this class

Nested Class Summary
- Nested classes/interfaces inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice
  ModernRoboticsUsbDevice.CreateReadWriteRunnable
- Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.I2cController
  I2cController.I2cPortReadyBeginEndNotifications, I2cController.I2cPortReadyCallback
- Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice
  HardwareDevice.Manufacturer

Field Summary

Fields
Modifier and Type	Field and Description
`static int[]`	`ADDRESS_ANALOG_PORT_MAP`
`static int`	`ADDRESS_ANALOG_PORT_S0`
`static int`	`ADDRESS_ANALOG_PORT_S1`
`static int`	`ADDRESS_ANALOG_PORT_S2`
`static int`	`ADDRESS_ANALOG_PORT_S3`
`static int`	`ADDRESS_ANALOG_PORT_S4`
`static int`	`ADDRESS_ANALOG_PORT_S5`
`static int`	`ADDRESS_BUFFER_STATUS`
`static int[]`	`ADDRESS_I2C_PORT_MAP`
`static int`	`ADDRESS_I2C_PORT_S1`
`static int`	`ADDRESS_I2C_PORT_S2`
`static int`	`ADDRESS_I2C_PORT_S3`
`static int`	`ADDRESS_I2C_PORT_S4`
`static int`	`ADDRESS_I2C_PORT_S5`
`static int`	`ADDRESS_I2C_PORT_SO`
`static int[]`	`BUFFER_FLAG_MAP`
`static byte`	`BUFFER_FLAG_S0`
`static byte`	`BUFFER_FLAG_S1`
`static byte`	`BUFFER_FLAG_S2`
`static byte`	`BUFFER_FLAG_S3`
`static byte`	`BUFFER_FLAG_S4`
`static byte`	`BUFFER_FLAG_S5`
`static boolean`	`DEBUG_LOGGING` Enable DEBUG_LOGGING logging
`static int[]`	`DIGITAL_LINE`
`static byte`	`I2C_ACTION_FLAG`
`static byte`	`I2C_NO_ACTION_FLAG`
`protected byte[]`	`lastI2cPortModes`
`static double`	`MAX_ANALOG_INPUT_VOLTAGE` The maximum voltage that can be read by our ADC
`static int`	`MONITOR_LENGTH`
`static byte`	`NUMBER_OF_PORTS`
`static byte`	`NXT_MODE_9V_ENABLED`
`static byte`	`NXT_MODE_ANALOG`
`static byte`	`NXT_MODE_DIGITAL_0`
`static byte`	`NXT_MODE_DIGITAL_1`
`static byte`	`NXT_MODE_I2C`
`static byte`	`NXT_MODE_READ`
`static byte`	`NXT_MODE_WRITE`
`static byte`	`OFFSET_I2C_PORT_FLAG`
`static byte`	`OFFSET_I2C_PORT_I2C_ADDRESS`
`static byte`	`OFFSET_I2C_PORT_MEMORY_ADDRESS`
`static byte`	`OFFSET_I2C_PORT_MEMORY_BUFFER`
`static byte`	`OFFSET_I2C_PORT_MEMORY_LENGTH`
`static byte`	`OFFSET_I2C_PORT_MODE`
`static int[]`	`PORT_9V_CAPABLE`
`static byte`	`SIZE_ANALOG_BUFFER`
`static byte`	`SIZE_I2C_BUFFER`
`static byte`	`SIZE_OF_PORT_BUFFER`
`static byte`	`START_ADDRESS`
`static java.lang.String`	`TAG`

Fields inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbI2cController
i2cPortReadyBeginEndCallbacks, notificationsActive, numberOfI2cPorts

Fields inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice
createReadWriteRunnable, readWriteRunnable, readWriteService

Fields inherited from interface com.qualcomm.robotcore.hardware.I2cController
I2C_BUFFER_START_ADDRESS

Constructor Summary

Constructors
Constructor and Description
`ModernRoboticsUsbLegacyModule(Context context, SerialNumber serialNumber, OpenRobotUsbDevice openRobotUsbDevice, SyncdDevice.Manager manager)` Use ModernRoboticsUsbDeviceManager to create an instance of this class

Method Summary

All Methods Instance Methods Concrete Methods Deprecated Methods
Modifier and Type	Method and Description
`void`	`clearI2cPortActionFlag(int physicalPort)` Clears the port action flag, undoing the effect of previous setI2cPortActionFlag()
`void`	`copyBufferIntoWriteBuffer(int physicalPort, byte[] buffer)` Copy a byte array into the buffer that is set to be written out to the device
`protected void`	`createSegments()`
`void`	`deregisterForPortReadyCallback(int port)` De-register for port ready notifications.
`protected void`	`doArm()`
`protected void`	`doPretend()`
`void`	`enable9v(int physicalPort, boolean enable)` Enable or disable 9V power on a port
`void`	`enableAnalogReadMode(int physicalPort)` Enable a physical port in analog read mode
`void`	`enableI2cReadMode(int physicalPort, I2cAddr i2cAddress, int memAddress, int length)` Enable read mode for a particular I2C device
`void`	`enableI2cWriteMode(int physicalPort, I2cAddr i2cAddress, int memAddress, int length)` Enable write mode for a particular I2C device
`java.lang.String`	`getConnectionInfo()` Get connection information about this device in a human readable format
`byte[]`	`getCopyOfReadBuffer(int physicalPort)` Get a copy of the most recent data read in from the device
`byte[]`	`getCopyOfWriteBuffer(int physicalPort)` Get a copy of the data that is set to be written out to the device
`java.lang.String`	`getDeviceName()` Device Name
`I2cController.I2cPortReadyCallback`	`getI2cPortReadyCallback(int port)` Returns the callback currently registered to receive portIsReady notifications for the indicated port
`byte[]`	`getI2cReadCache(int physicalPort)` Get direct access to the cache that I2C reads will be populated into
`java.util.concurrent.locks.Lock`	`getI2cReadCacheLock(int physicalPort)` Get access to the read cache lock.
`TimeWindow`	`getI2cReadCacheTimeWindow(int physicalPort)` Returns the time window object into which timestamps are placed as the read cache is populated
`byte[]`	`getI2cWriteCache(int physicalPort)` Get direct access to the cache that I2C writes will be populated into
`java.util.concurrent.locks.Lock`	`getI2cWriteCacheLock(int physicalPort)` Get access to the write cache lock.
`HardwareDevice.Manufacturer`	`getManufacturer()` Returns an indication of the manufacturer of this device.
`double`	`getMaxAnalogInputVoltage()` Returns the maximum voltage that can be read by our analog inputs
`int`	`getMaxI2cWriteLatency(int port)` Returns the maximum interval, in milliseconds, from when the controller receives an I2c write transmission over USB to when that write is actually issued to the I2c device.
`protected java.lang.String`	`getTag()`
`void`	`initializeHardware()`
`boolean`	`isI2cPortActionFlagSet(int physicalPort)` Get the port action flag; this flag is set if the particular port is busy.
`boolean`	`isI2cPortInReadMode(int physicalPort)` Is the port in read mode?
`boolean`	`isI2cPortInWriteMode(int physicalPort)` Is the port in write mode?
`boolean`	`isI2cPortReady(int physicalPort)` Determine if a physical port is ready
`byte[]`	`readAnalogRaw(int physicalPort)` Read an analog value from a device; only works in analog read mode
`double`	`readAnalogVoltage(int physicalPort)` Reads the analog voltage from a device.
`void`	`readComplete()`
`void`	`readI2cCacheFromController(int physicalPort)` Read the local cache in from the I2C Controller NOTE: unless this method is called the internal cache isn't updated
`void`	`readI2cCacheFromModule(int port)` Deprecated.
`void`	`registerForI2cPortReadyCallback(I2cController.I2cPortReadyCallback callback, int port)` Register to be notified when a given port is ready.
`void`	`resetDeviceConfigurationForOpMode()` Resets the device's configuration to that which is expected at the beginning of an OpMode.
`void`	`setData(int physicalPort, byte[] data, int length)`
`void`	`setDigitalLine(int physicalPort, int line, boolean set)` Set the value of digital line 0 or 1 while in analog mode.
`void`	`setI2cPortActionFlag(int physicalPort)` Set the port action flag; this flag tells the controller to send the current data in its buffer to the I2C device
`void`	`setReadMode(int physicalPort, int i2cAddr, int memAddr, int memLen)`
`void`	`setWriteMode(int physicalPort, int i2cAddress, int memAddress)`
`void`	`writeI2cCacheToController(int physicalPort)` Write the local cache to the I2C Controller NOTE: unless this method is called the internal cache isn't updated
`void`	`writeI2cCacheToModule(int port)` Deprecated.
`void`	`writeI2cPortFlagOnlyToController(int physicalPort)` Write just the port action flag in the local cache to the I2C controller
`void`	`writeI2cPortFlagOnlyToModule(int port)` Deprecated.

Methods inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbI2cController
deregisterForPortReadyBeginEndCallback, getPortReadyBeginEndCallback, isArmed, registerForPortReadyBeginEndCallback, shutdownComplete, startupComplete, throwIfI2cPortIsInvalid

Methods inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice
armDevice, disarmDevice, getCreateReadWriteRunnable, getOpenRobotUsbDevice, getPretendDevice, getReadWriteRunnable, getVersion, read, read8, readFromWriteCache, readFromWriteCache, write, write8, write8, write8, writeComplete

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.I2cController
deregisterForPortReadyBeginEndCallback, getPortReadyBeginEndCallback, getSerialNumber, isArmed, registerForPortReadyBeginEndCallback

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice
close, getVersion

- Field Detail
  - TAG
```
public static final java.lang.String TAG
```
    See Also:
    
    Constant Field Values
  - MAX_ANALOG_INPUT_VOLTAGE
```
public static final double MAX_ANALOG_INPUT_VOLTAGE
```
    The maximum voltage that can be read by our ADC
    
    See Also:
    
    Constant Field Values
  - DEBUG_LOGGING
```
public static final boolean DEBUG_LOGGING
```
    Enable DEBUG_LOGGING logging
    
    See Also:
    
    Constant Field Values
  - MONITOR_LENGTH
```
public static final int MONITOR_LENGTH
```
    See Also:
    
    Constant Field Values
  - START_ADDRESS
```
public static final byte START_ADDRESS
```
    See Also:
    
    Constant Field Values
  - NUMBER_OF_PORTS
```
public static final byte NUMBER_OF_PORTS
```
    See Also:
    
    Constant Field Values
  - I2C_ACTION_FLAG
```
public static final byte I2C_ACTION_FLAG
```
    See Also:
    
    Constant Field Values
  - I2C_NO_ACTION_FLAG
```
public static final byte I2C_NO_ACTION_FLAG
```
    See Also:
    
    Constant Field Values
  - SIZE_ANALOG_BUFFER
```
public static final byte SIZE_ANALOG_BUFFER
```
    See Also:
    
    Constant Field Values
  - SIZE_I2C_BUFFER
```
public static final byte SIZE_I2C_BUFFER
```
    See Also:
    
    Constant Field Values
  - SIZE_OF_PORT_BUFFER
```
public static final byte SIZE_OF_PORT_BUFFER
```
    See Also:
    
    Constant Field Values
  - NXT_MODE_ANALOG
```
public static final byte NXT_MODE_ANALOG
```
    See Also:
    
    Constant Field Values
  - NXT_MODE_I2C
```
public static final byte NXT_MODE_I2C
```
    See Also:
    
    Constant Field Values
  - NXT_MODE_9V_ENABLED
```
public static final byte NXT_MODE_9V_ENABLED
```
    See Also:
    
    Constant Field Values
  - NXT_MODE_DIGITAL_0
```
public static final byte NXT_MODE_DIGITAL_0
```
    See Also:
    
    Constant Field Values
  - NXT_MODE_DIGITAL_1
```
public static final byte NXT_MODE_DIGITAL_1
```
    See Also:
    
    Constant Field Values
  - NXT_MODE_READ
```
public static final byte NXT_MODE_READ
```
    See Also:
    
    Constant Field Values
  - NXT_MODE_WRITE
```
public static final byte NXT_MODE_WRITE
```
    See Also:
    
    Constant Field Values
  - BUFFER_FLAG_S0
```
public static final byte BUFFER_FLAG_S0
```
    See Also:
    
    Constant Field Values
  - BUFFER_FLAG_S1
```
public static final byte BUFFER_FLAG_S1
```
    See Also:
    
    Constant Field Values
  - BUFFER_FLAG_S2
```
public static final byte BUFFER_FLAG_S2
```
    See Also:
    
    Constant Field Values
  - BUFFER_FLAG_S3
```
public static final byte BUFFER_FLAG_S3
```
    See Also:
    
    Constant Field Values
  - BUFFER_FLAG_S4
```
public static final byte BUFFER_FLAG_S4
```
    See Also:
    
    Constant Field Values
  - BUFFER_FLAG_S5
```
public static final byte BUFFER_FLAG_S5
```
    See Also:
    
    Constant Field Values
  - ADDRESS_BUFFER_STATUS
```
public static final int ADDRESS_BUFFER_STATUS
```
    See Also:
    
    Constant Field Values
  - ADDRESS_ANALOG_PORT_S0
```
public static final int ADDRESS_ANALOG_PORT_S0
```
    See Also:
    
    Constant Field Values
  - ADDRESS_ANALOG_PORT_S1
```
public static final int ADDRESS_ANALOG_PORT_S1
```
    See Also:
    
    Constant Field Values
  - ADDRESS_ANALOG_PORT_S2
```
public static final int ADDRESS_ANALOG_PORT_S2
```
    See Also:
    
    Constant Field Values
  - ADDRESS_ANALOG_PORT_S3
```
public static final int ADDRESS_ANALOG_PORT_S3
```
    See Also:
    
    Constant Field Values
  - ADDRESS_ANALOG_PORT_S4
```
public static final int ADDRESS_ANALOG_PORT_S4
```
    See Also:
    
    Constant Field Values
  - ADDRESS_ANALOG_PORT_S5
```
public static final int ADDRESS_ANALOG_PORT_S5
```
    See Also:
    
    Constant Field Values
  - ADDRESS_I2C_PORT_SO
```
public static final int ADDRESS_I2C_PORT_SO
```
    See Also:
    
    Constant Field Values
  - ADDRESS_I2C_PORT_S1
```
public static final int ADDRESS_I2C_PORT_S1
```
    See Also:
    
    Constant Field Values
  - ADDRESS_I2C_PORT_S2
```
public static final int ADDRESS_I2C_PORT_S2
```
    See Also:
    
    Constant Field Values
  - ADDRESS_I2C_PORT_S3
```
public static final int ADDRESS_I2C_PORT_S3
```
    See Also:
    
    Constant Field Values
  - ADDRESS_I2C_PORT_S4
```
public static final int ADDRESS_I2C_PORT_S4
```
    See Also:
    
    Constant Field Values
  - ADDRESS_I2C_PORT_S5
```
public static final int ADDRESS_I2C_PORT_S5
```
    See Also:
    
    Constant Field Values
  - OFFSET_I2C_PORT_MODE
```
public static final byte OFFSET_I2C_PORT_MODE
```
    See Also:
    
    Constant Field Values
  - OFFSET_I2C_PORT_I2C_ADDRESS
```
public static final byte OFFSET_I2C_PORT_I2C_ADDRESS
```
    See Also:
    
    Constant Field Values
  - OFFSET_I2C_PORT_MEMORY_ADDRESS
```
public static final byte OFFSET_I2C_PORT_MEMORY_ADDRESS
```
    See Also:
    
    Constant Field Values
  - OFFSET_I2C_PORT_MEMORY_LENGTH
```
public static final byte OFFSET_I2C_PORT_MEMORY_LENGTH
```
    See Also:
    
    Constant Field Values
  - OFFSET_I2C_PORT_MEMORY_BUFFER
```
public static final byte OFFSET_I2C_PORT_MEMORY_BUFFER
```
    See Also:
    
    Constant Field Values
  - OFFSET_I2C_PORT_FLAG
```
public static final byte OFFSET_I2C_PORT_FLAG
```
    See Also:
    
    Constant Field Values
  - ADDRESS_ANALOG_PORT_MAP
```
public static final int[] ADDRESS_ANALOG_PORT_MAP
```
  - ADDRESS_I2C_PORT_MAP
```
public static final int[] ADDRESS_I2C_PORT_MAP
```
  - BUFFER_FLAG_MAP
```
public static final int[] BUFFER_FLAG_MAP
```
  - DIGITAL_LINE
```
public static final int[] DIGITAL_LINE
```
  - PORT_9V_CAPABLE
```
public static final int[] PORT_9V_CAPABLE
```
  - lastI2cPortModes
```
protected final byte[] lastI2cPortModes
```
- Constructor Detail
  - ModernRoboticsUsbLegacyModule
```
public ModernRoboticsUsbLegacyModule(Context context,
                                     SerialNumber serialNumber,
                                     OpenRobotUsbDevice openRobotUsbDevice,
                                     SyncdDevice.Manager manager)
                              throws RobotCoreException,
                                     java.lang.InterruptedException
```
    Use ModernRoboticsUsbDeviceManager to create an instance of this class
    
    Throws:
    
    RobotCoreException
    
    java.lang.InterruptedException
- Method Detail
  - getTag
```
protected java.lang.String getTag()
```
  - doArm
```
protected void doArm()
              throws RobotCoreException,
                     java.lang.InterruptedException
```
    Throws:
    
    RobotCoreException
    
    java.lang.InterruptedException
  - doPretend
```
protected void doPretend()
                  throws RobotCoreException,
                         java.lang.InterruptedException
```
    Throws:
    
    RobotCoreException
    
    java.lang.InterruptedException
  - createSegments
```
protected void createSegments()
```
  - initializeHardware
```
public void initializeHardware()
```
    Overrides:
    
    initializeHardware in class ModernRoboticsUsbDevice
  - 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()
```
    Device Name
    
    Specified by:
    
    getDeviceName in interface HardwareDevice
    
    Specified by:
    
    getDeviceName in class ModernRoboticsUsbDevice
    
    Returns:
    
    device 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
  - getMaxI2cWriteLatency
```
public int getMaxI2cWriteLatency(int port)
```
    Description copied from interface: I2cController
    
    Returns the maximum interval, in milliseconds, from when the controller receives an I2c write transmission over USB to when that write is actually issued to the I2c device.
    
    Specified by:
    
    getMaxI2cWriteLatency in interface I2cController
    
    Returns:
    
    the maximum interval, in milliseconds, from when the controller receives an I2c write transmission over USB to when that write is actually issued to the I2c device.
  - registerForI2cPortReadyCallback
```
public void registerForI2cPortReadyCallback(I2cController.I2cPortReadyCallback callback,
                                            int port)
```
    Register to be notified when a given port is ready. The callback method will be called after the latest data has been read from the Legacy Module. Only one callback can be registered for a given port. Last to register wins.
    
    Specified by:
    
    registerForI2cPortReadyCallback in interface I2cController
    
    Parameters:
    
    callback - register a callback
    
    port - port to be monitored
  - getI2cPortReadyCallback
```
public I2cController.I2cPortReadyCallback getI2cPortReadyCallback(int port)
```
    Description copied from interface: I2cController
    
    Returns the callback currently registered to receive portIsReady notifications for the indicated port
    
    Specified by:
    
    getI2cPortReadyCallback in interface I2cController
    
    Parameters:
    
    port - the port of interest
    
    Returns:
    
    the currently registered callback, if any
  - deregisterForPortReadyCallback
```
public void deregisterForPortReadyCallback(int port)
```
    Description copied from interface: I2cController
    
    De-register for port ready notifications.
    
    Specified by:
    
    deregisterForPortReadyCallback in interface I2cController
    
    Parameters:
    
    port - port no longer being monitored.
  - enableI2cReadMode
```
public void enableI2cReadMode(int physicalPort,
                              I2cAddr i2cAddress,
                              int memAddress,
                              int length)
```
    Description copied from interface: I2cController
    
    Enable read mode for a particular I2C device
    
    Specified by:
    
    enableI2cReadMode in interface I2cController
    
    Parameters:
    
    physicalPort - the port the device is attached to
    
    i2cAddress - the i2c address of the device
    
    memAddress - mem address at which to start reading
    
    length - number of bytes to read
  - enableI2cWriteMode
```
public void enableI2cWriteMode(int physicalPort,
                               I2cAddr i2cAddress,
                               int memAddress,
                               int length)
```
    Description copied from interface: I2cController
    
    Enable write mode for a particular I2C device
    
    Specified by:
    
    enableI2cWriteMode in interface I2cController
    
    Parameters:
    
    physicalPort - the port the device is attached to
    
    i2cAddress - the i2c address of the device
    
    memAddress - the memory address at which to start writing
    
    length - number of bytes to read
  - enableAnalogReadMode
```
public void enableAnalogReadMode(int physicalPort)
```
    Description copied from interface: LegacyModule
    
    Enable a physical port in analog read mode
    
    Specified by:
    
    enableAnalogReadMode in interface LegacyModule
    
    Parameters:
    
    physicalPort - physical port number on the device
  - enable9v
```
public void enable9v(int physicalPort,
                     boolean enable)
```
    Description copied from interface: LegacyModule
    
    Enable or disable 9V power on a port
    
    Specified by:
    
    enable9v in interface LegacyModule
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    enable - true to enable; false to disable
  - setReadMode
```
public void setReadMode(int physicalPort,
                        int i2cAddr,
                        int memAddr,
                        int memLen)
```
  - setWriteMode
```
public void setWriteMode(int physicalPort,
                         int i2cAddress,
                         int memAddress)
```
  - setData
```
public void setData(int physicalPort,
                    byte[] data,
                    int length)
```
  - setDigitalLine
```
public void setDigitalLine(int physicalPort,
                           int line,
                           boolean set)
```
    Description copied from interface: LegacyModule
    
    Set the value of digital line 0 or 1 while in analog mode.
    These are port pins 5 and 6.
    
    Specified by:
    
    setDigitalLine in interface LegacyModule
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    line - line 0 or 1
    
    set - true to set; otherwise false
  - readAnalogRaw
```
public byte[] readAnalogRaw(int physicalPort)
```
    Description copied from interface: LegacyModule
    
    Read an analog value from a device; only works in analog read mode
    
    Specified by:
    
    readAnalogRaw in interface LegacyModule
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    Returns:
    
    byte[] containing the two analog values; low byte first, high byte second
  - readAnalogVoltage
```
public double readAnalogVoltage(int physicalPort)
```
    Description copied from interface: LegacyModule
    
    Reads the analog voltage from a device. The port indicated must currently be in analog read mode.
    
    Specified by:
    
    readAnalogVoltage in interface LegacyModule
    
    Parameters:
    
    physicalPort - the port whose voltage is to be read
    
    Returns:
    
    the voltage level read, in volts
  - getMaxAnalogInputVoltage
```
public double getMaxAnalogInputVoltage()
```
    Description copied from interface: LegacyModule
    
    Returns the maximum voltage that can be read by our analog inputs
    
    Specified by:
    
    getMaxAnalogInputVoltage in interface LegacyModule
    
    Returns:
    
    the maximum voltage that can be read by our analog inputs
  - getCopyOfReadBuffer
```
public byte[] getCopyOfReadBuffer(int physicalPort)
```
    Description copied from interface: I2cController
    
    Get a copy of the most recent data read in from the device
    
    Specified by:
    
    getCopyOfReadBuffer in interface I2cController
    
    Parameters:
    
    physicalPort - the port the device is attached to
    
    Returns:
    
    a copy of the most recent data read in from the device
  - getCopyOfWriteBuffer
```
public byte[] getCopyOfWriteBuffer(int physicalPort)
```
    Description copied from interface: I2cController
    
    Get a copy of the data that is set to be written out to the device
    
    Specified by:
    
    getCopyOfWriteBuffer in interface I2cController
    
    Parameters:
    
    physicalPort - the port the device is attached to
    
    Returns:
    
    a copy of the data set to be written out to the device
  - copyBufferIntoWriteBuffer
```
public void copyBufferIntoWriteBuffer(int physicalPort,
                                      byte[] buffer)
```
    Description copied from interface: I2cController
    
    Copy a byte array into the buffer that is set to be written out to the device
    
    Specified by:
    
    copyBufferIntoWriteBuffer in interface I2cController
    
    Parameters:
    
    physicalPort - the port the device is attached to
    
    buffer - buffer to copy
  - setI2cPortActionFlag
```
public void setI2cPortActionFlag(int physicalPort)
```
    Description copied from interface: I2cController
    
    Set the port action flag; this flag tells the controller to send the current data in its buffer to the I2C device
    
    Specified by:
    
    setI2cPortActionFlag in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    See Also:
    
    I2cController.clearI2cPortActionFlag(int)
  - clearI2cPortActionFlag
```
public void clearI2cPortActionFlag(int physicalPort)
```
    Description copied from interface: I2cController
    
    Clears the port action flag, undoing the effect of previous setI2cPortActionFlag()
    
    Specified by:
    
    clearI2cPortActionFlag in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    See Also:
    
    I2cController.setI2cPortActionFlag(int)
  - isI2cPortActionFlagSet
```
public boolean isI2cPortActionFlagSet(int physicalPort)
```
    Description copied from interface: I2cController
    
    Get the port action flag; this flag is set if the particular port is busy.
    
    Specified by:
    
    isI2cPortActionFlagSet in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
  - readI2cCacheFromController
```
public void readI2cCacheFromController(int physicalPort)
```
    Description copied from interface: I2cController
    
    Read the local cache in from the I2C Controller NOTE: unless this method is called the internal cache isn't updated
    
    Specified by:
    
    readI2cCacheFromController in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
  - writeI2cCacheToController
```
public void writeI2cCacheToController(int physicalPort)
```
    Description copied from interface: I2cController
    
    Write the local cache to the I2C Controller NOTE: unless this method is called the internal cache isn't updated
    
    Specified by:
    
    writeI2cCacheToController in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
  - writeI2cPortFlagOnlyToController
```
public void writeI2cPortFlagOnlyToController(int physicalPort)
```
    Description copied from interface: I2cController
    
    Write just the port action flag in the local cache to the I2C controller
    
    Specified by:
    
    writeI2cPortFlagOnlyToController in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
  - isI2cPortInReadMode
```
public boolean isI2cPortInReadMode(int physicalPort)
```
    Description copied from interface: I2cController
    
    Is the port in read mode?
    
    Specified by:
    
    isI2cPortInReadMode in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    Returns:
    
    true if in read mode; otherwise false
  - isI2cPortInWriteMode
```
public boolean isI2cPortInWriteMode(int physicalPort)
```
    Description copied from interface: I2cController
    
    Is the port in write mode?
    
    Specified by:
    
    isI2cPortInWriteMode in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    Returns:
    
    true if in write mode; otherwise false
  - isI2cPortReady
```
public boolean isI2cPortReady(int physicalPort)
```
    Description copied from interface: I2cController
    
    Determine if a physical port is ready
    
    Specified by:
    
    isI2cPortReady in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    Returns:
    
    true if ready for command; false otherwise
  - readComplete
```
public void readComplete()
                  throws java.lang.InterruptedException
```
    Specified by:
    
    readComplete in interface ReadWriteRunnable.Callback
    
    Overrides:
    
    readComplete in class ModernRoboticsUsbDevice
    
    Throws:
    
    java.lang.InterruptedException
  - getI2cReadCacheLock
```
public java.util.concurrent.locks.Lock getI2cReadCacheLock(int physicalPort)
```
    Description copied from interface: I2cController
    
    Get access to the read cache lock.
    This is needed if you are accessing the read cache directly. The read cache lock needs to be acquired before attempting to interact with the read cache
    
    Specified by:
    
    getI2cReadCacheLock in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    Returns:
    
    lock
  - getI2cWriteCacheLock
```
public java.util.concurrent.locks.Lock getI2cWriteCacheLock(int physicalPort)
```
    Description copied from interface: I2cController
    
    Get access to the write cache lock.
    This is needed if you are accessing the write cache directly. The write cache lock needs to be acquired before attempting to interact with the write cache
    
    Specified by:
    
    getI2cWriteCacheLock in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    Returns:
    
    lock
  - getI2cReadCache
```
public byte[] getI2cReadCache(int physicalPort)
```
    Description copied from interface: I2cController
    
    Get direct access to the cache that I2C reads will be populated into
    Please lock the cache before accessing it.
    
    Specified by:
    
    getI2cReadCache in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    Returns:
    
    byte array
  - getI2cReadCacheTimeWindow
```
public TimeWindow getI2cReadCacheTimeWindow(int physicalPort)
```
    Description copied from interface: I2cController
    
    Returns the time window object into which timestamps are placed as the read cache is populated
    
    Specified by:
    
    getI2cReadCacheTimeWindow in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    Returns:
    
    the time window object into which timestamps are placed as the read cache is populated
  - getI2cWriteCache
```
public byte[] getI2cWriteCache(int physicalPort)
```
    Description copied from interface: I2cController
    
    Get direct access to the cache that I2C writes will be populated into
    Please lock the cache before accessing it.
    
    Specified by:
    
    getI2cWriteCache in interface I2cController
    
    Parameters:
    
    physicalPort - physical port number on the device
    
    Returns:
    
    byte array
  - readI2cCacheFromModule
```
@Deprecated
public void readI2cCacheFromModule(int port)
```
    Deprecated.
    
    Description copied from interface: I2cController
    
    Deprecated, use readI2cCacheFromController(port)
    
    Specified by:
    
    readI2cCacheFromModule in interface I2cController
    
    Parameters:
    
    port - physical port number on the device
  - writeI2cCacheToModule
```
@Deprecated
public void writeI2cCacheToModule(int port)
```
    Deprecated.
    
    Description copied from interface: I2cController
    
    Deprecated, use writeI2cCacheToController(port)
    
    Specified by:
    
    writeI2cCacheToModule in interface I2cController
    
    Parameters:
    
    port - physical port number on the device
  - writeI2cPortFlagOnlyToModule
```
@Deprecated
public void writeI2cPortFlagOnlyToModule(int port)
```
    Deprecated.
    
    Description copied from interface: I2cController
    
    Deprecated, use writeI2cPortFlagOnlyToController(port)
    
    Specified by:
    
    writeI2cPortFlagOnlyToModule in interface I2cController
    
    Parameters:
    
    port - physical port number on the device

Class ModernRoboticsUsbLegacyModule

Nested Class Summary

Nested classes/interfaces inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.I2cController

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

Field Summary

Fields inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbI2cController

Fields inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice

Fields inherited from interface com.qualcomm.robotcore.hardware.I2cController

Constructor Summary

Method Summary

Methods inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbI2cController

Methods inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice

Methods inherited from class java.lang.Object

Methods inherited from interface com.qualcomm.robotcore.hardware.I2cController

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

Field Detail

TAG

MAX_ANALOG_INPUT_VOLTAGE

DEBUG_LOGGING

MONITOR_LENGTH

START_ADDRESS

NUMBER_OF_PORTS

I2C_ACTION_FLAG

I2C_NO_ACTION_FLAG

SIZE_ANALOG_BUFFER

SIZE_I2C_BUFFER

SIZE_OF_PORT_BUFFER

NXT_MODE_ANALOG

NXT_MODE_I2C

NXT_MODE_9V_ENABLED

NXT_MODE_DIGITAL_0

NXT_MODE_DIGITAL_1

NXT_MODE_READ

NXT_MODE_WRITE

BUFFER_FLAG_S0

BUFFER_FLAG_S1

BUFFER_FLAG_S2

BUFFER_FLAG_S3

BUFFER_FLAG_S4

BUFFER_FLAG_S5

ADDRESS_BUFFER_STATUS

ADDRESS_ANALOG_PORT_S0

ADDRESS_ANALOG_PORT_S1

ADDRESS_ANALOG_PORT_S2

ADDRESS_ANALOG_PORT_S3

ADDRESS_ANALOG_PORT_S4

ADDRESS_ANALOG_PORT_S5

ADDRESS_I2C_PORT_SO

ADDRESS_I2C_PORT_S1

ADDRESS_I2C_PORT_S2

ADDRESS_I2C_PORT_S3

ADDRESS_I2C_PORT_S4

ADDRESS_I2C_PORT_S5

OFFSET_I2C_PORT_MODE

OFFSET_I2C_PORT_I2C_ADDRESS

OFFSET_I2C_PORT_MEMORY_ADDRESS

OFFSET_I2C_PORT_MEMORY_LENGTH

OFFSET_I2C_PORT_MEMORY_BUFFER

OFFSET_I2C_PORT_FLAG

ADDRESS_ANALOG_PORT_MAP

ADDRESS_I2C_PORT_MAP

BUFFER_FLAG_MAP

DIGITAL_LINE

PORT_9V_CAPABLE

lastI2cPortModes

Constructor Detail

ModernRoboticsUsbLegacyModule

Method Detail

getTag

doArm

doPretend

createSegments

initializeHardware

getManufacturer

getDeviceName

getConnectionInfo

resetDeviceConfigurationForOpMode

getMaxI2cWriteLatency

registerForI2cPortReadyCallback