ModernRoboticsUsbServoController (FtcRobotController API)

java.lang.Object
- ArmableUsbDevice
- - com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice
  - - com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbController
    - - com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbServoController

All Implemented Interfaces:

ReadWriteRunnable.Callback, HardwareDevice, ServoController
```
public final class ModernRoboticsUsbServoController
extends ModernRoboticsUsbController
implements ServoController
```
Modern Robotics USB Servo Controller
This is an implementation of ServoController.
Use HardwareDeviceManager to create an instance of this class

Nested Class Summary
- Nested classes/interfaces inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbController
  ModernRoboticsUsbController.WRITE_STATUS
- Nested classes/interfaces inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDevice
  ModernRoboticsUsbDevice.CreateReadWriteRunnable
- 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
`static byte[]`	`ADDRESS_CHANNEL_MAP`
`static int`	`ADDRESS_CHANNEL1`
`static int`	`ADDRESS_CHANNEL2`
`static int`	`ADDRESS_CHANNEL3`
`static int`	`ADDRESS_CHANNEL4`
`static int`	`ADDRESS_CHANNEL5`
`static int`	`ADDRESS_CHANNEL6`
`static int`	`ADDRESS_PWM`
`static int`	`ADDRESS_UNUSED`
`protected static double`	`apiPositionMax`
`protected static double`	`apiPositionMin`
`protected LastKnown<java.lang.Double>[]`	`commandedServoPositions`
`static boolean`	`DEBUG_LOGGING` Enable DEBUG_LOGGING logging
`protected LastKnown<java.lang.Boolean>`	`lastKnownPwmEnabled`
`static int`	`MONITOR_LENGTH`
`static byte`	`PWM_DISABLE`
`static byte`	`PWM_ENABLE`
`static byte`	`PWM_ENABLE_WITHOUT_TIMEOUT`
`protected static int`	`SERVO_FIRST`
`protected static int`	`SERVO_LAST`
`protected static double`	`servoPositionMax`
`protected static double`	`servoPositionMin`
`static byte`	`START_ADDRESS`
`static java.lang.String`	`TAG`

Fields inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbController
callbackLock, callbackWaiterCount, concurrentClientLock, readCompletionCount, readWriteRunnableIsRunning, writeStatus

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

Constructor Summary

Constructors
Constructor and Description
`ModernRoboticsUsbServoController(Context context, SerialNumber serialNumber, OpenRobotUsbDevice openRobotUsbDevice, SyncdDevice.Manager manager)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`protected void`	`doArm()`
`protected void`	`doCloseFromArmed()`
`protected void`	`doCloseFromOther()`
`protected void`	`doDisarm()`
`protected void`	`doPretend()`
`protected void`	`floatHardware()`
`java.lang.String`	`getConnectionInfo()` Get connection information about this device in a human readable format
`java.lang.String`	`getDeviceName()` Device Name
`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 servo)` Get the position of a servo at a given channel
`protected java.lang.String`	`getTag()`
`void`	`initializeHardware()`
`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 servo, double position)` Set the position of a servo at the given channel

Methods inherited from class com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbController
isOkToReadOrWrite, read, readComplete, shutdownComplete, startupComplete, write, writeComplete

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

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, getVersion

- Field Detail
  - TAG
```
public static final java.lang.String TAG
```
    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
  - SERVO_FIRST
```
protected static final int SERVO_FIRST
```
    See Also:
    
    Constant Field Values
  - SERVO_LAST
```
protected static final int SERVO_LAST
```
    See Also:
    
    Constant Field Values
  - PWM_ENABLE
```
public static final byte PWM_ENABLE
```
    See Also:
    
    Constant Field Values
  - PWM_ENABLE_WITHOUT_TIMEOUT
```
public static final byte PWM_ENABLE_WITHOUT_TIMEOUT
```
    See Also:
    
    Constant Field Values
  - PWM_DISABLE
```
public static final byte PWM_DISABLE
```
    See Also:
    
    Constant Field Values
  - START_ADDRESS
```
public static final byte START_ADDRESS
```
    See Also:
    
    Constant Field Values
  - ADDRESS_CHANNEL1
```
public static final int ADDRESS_CHANNEL1
```
    See Also:
    
    Constant Field Values
  - ADDRESS_CHANNEL2
```
public static final int ADDRESS_CHANNEL2
```
    See Also:
    
    Constant Field Values
  - ADDRESS_CHANNEL3
```
public static final int ADDRESS_CHANNEL3
```
    See Also:
    
    Constant Field Values
  - ADDRESS_CHANNEL4
```
public static final int ADDRESS_CHANNEL4
```
    See Also:
    
    Constant Field Values
  - ADDRESS_CHANNEL5
```
public static final int ADDRESS_CHANNEL5
```
    See Also:
    
    Constant Field Values
  - ADDRESS_CHANNEL6
```
public static final int ADDRESS_CHANNEL6
```
    See Also:
    
    Constant Field Values
  - ADDRESS_PWM
```
public static final int ADDRESS_PWM
```
    See Also:
    
    Constant Field Values
  - ADDRESS_UNUSED
```
public static final int ADDRESS_UNUSED
```
    See Also:
    
    Constant Field Values
  - ADDRESS_CHANNEL_MAP
```
public static final byte[] ADDRESS_CHANNEL_MAP
```
  - apiPositionMin
```
protected static final double apiPositionMin
```
    See Also:
    
    Constant Field Values
  - apiPositionMax
```
protected static final double apiPositionMax
```
    See Also:
    
    Constant Field Values
  - servoPositionMin
```
protected static final double servoPositionMin
```
    See Also:
    
    Constant Field Values
  - servoPositionMax
```
protected static final double servoPositionMax
```
    See Also:
    
    Constant Field Values
  - commandedServoPositions
```
protected LastKnown<java.lang.Double>[] commandedServoPositions
```
  - lastKnownPwmEnabled
```
protected LastKnown<java.lang.Boolean> lastKnownPwmEnabled
```
- Constructor Detail
  - ModernRoboticsUsbServoController
```
public ModernRoboticsUsbServoController(Context context,
                                        SerialNumber serialNumber,
                                        OpenRobotUsbDevice openRobotUsbDevice,
                                        SyncdDevice.Manager manager)
                                 throws RobotCoreException,
                                        java.lang.InterruptedException
```
    Throws:
    
    RobotCoreException
    
    java.lang.InterruptedException
- Method Detail
  - getTag
```
protected java.lang.String getTag()
```
  - initializeHardware
```
public void initializeHardware()
```
    Overrides:
    
    initializeHardware in class ModernRoboticsUsbDevice
  - 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
  - doDisarm
```
protected void doDisarm()
                 throws RobotCoreException,
                        java.lang.InterruptedException
```
    Throws:
    
    RobotCoreException
    
    java.lang.InterruptedException
  - doCloseFromArmed
```
protected void doCloseFromArmed()
```
  - doCloseFromOther
```
protected void doCloseFromOther()
```
  - 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 class: ModernRoboticsUsbDevice
    
    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
  - 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 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
  - floatHardware
```
protected void floatHardware()
```

Class ModernRoboticsUsbServoController

Nested Class Summary

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

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

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

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

Field Summary

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

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

Constructor Summary

Method Summary

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

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

Methods inherited from class java.lang.Object

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

Field Detail

TAG

DEBUG_LOGGING

MONITOR_LENGTH

SERVO_FIRST

SERVO_LAST

PWM_ENABLE

PWM_ENABLE_WITHOUT_TIMEOUT

PWM_DISABLE

START_ADDRESS

ADDRESS_CHANNEL1

ADDRESS_CHANNEL2

ADDRESS_CHANNEL3

ADDRESS_CHANNEL4

ADDRESS_CHANNEL5

ADDRESS_CHANNEL6

ADDRESS_PWM

ADDRESS_UNUSED

ADDRESS_CHANNEL_MAP

apiPositionMin

apiPositionMax

servoPositionMin

servoPositionMax

commandedServoPositions

lastKnownPwmEnabled

Constructor Detail

ModernRoboticsUsbServoController

Method Detail

getTag

initializeHardware

doArm

doPretend

doDisarm

doCloseFromArmed

doCloseFromOther

getManufacturer

getDeviceName

getConnectionInfo

resetDeviceConfigurationForOpMode

pwmEnable

pwmDisable

getPwmStatus

setServoPosition

getServoPosition

floatHardware