public interface DcMotorControllerEx extends DcMotorController
DcMotorEx
HardwareDevice.Manufacturer
Modifier and Type | Method and Description |
---|---|
double |
getMotorCurrent(int motor,
CurrentUnit unit)
Returns the current consumed by the indicated motor.
|
double |
getMotorCurrentAlert(int motor,
CurrentUnit unit)
Returns the current alert for the indicated motor.
|
double |
getMotorVelocity(int motor)
Returns the velocity of the indicated motor in ticks per second.
|
double |
getMotorVelocity(int motor,
AngleUnit unit)
Returns the velocity of the indicated motor.
|
PIDCoefficients |
getPIDCoefficients(int motor,
DcMotor.RunMode mode)
Deprecated.
Use
getPIDFCoefficients(int, DcMotor.RunMode) instead |
PIDFCoefficients |
getPIDFCoefficients(int motor,
DcMotor.RunMode mode)
Returns the coefficients used for PIDF control on the indicated motor when in the indicated mode
|
boolean |
isMotorEnabled(int motor)
Returns whether a particular motor on the controller is energized
|
boolean |
isMotorOverCurrent(int motor)
Returns whether the indicated motor current consumption has exceeded the alert threshold.
|
void |
setMotorCurrentAlert(int motor,
double current,
CurrentUnit unit)
Sets the current alert for the indicated motor
|
void |
setMotorDisable(int motor)
Individually denergizes a particular motor
|
void |
setMotorEnable(int motor)
Individually energizes a particular motor
|
void |
setMotorTargetPosition(int motor,
int position,
int tolerance)
Sets the target position and tolerance for a 'run to position' operation.
|
void |
setMotorVelocity(int motor,
double ticksPerSecond)
Sets the target velocity of the indicated motor.
|
void |
setMotorVelocity(int motor,
double angularRate,
AngleUnit unit)
Sets the target velocity of the indicated motor.
|
void |
setPIDCoefficients(int motor,
DcMotor.RunMode mode,
PIDCoefficients pidCoefficients)
Deprecated.
|
void |
setPIDFCoefficients(int motor,
DcMotor.RunMode mode,
PIDFCoefficients pidfCoefficients)
Sets the coefficients used for PIDF control on the indicated motor when in the indicated mode
|
getMotorCurrentPosition, getMotorMode, getMotorPower, getMotorPowerFloat, getMotorTargetPosition, getMotorType, getMotorZeroPowerBehavior, isBusy, resetDeviceConfigurationForOpMode, setMotorMode, setMotorPower, setMotorTargetPosition, setMotorType, setMotorZeroPowerBehavior
close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode
void setMotorEnable(int motor)
motor
- the port number of the motor on this controllersetMotorDisable(int)
,
isMotorEnabled(int)
void setMotorDisable(int motor)
motor
- the port number of the motor on this controllersetMotorEnable(int)
,
isMotorEnabled(int)
boolean isMotorEnabled(int motor)
motor
- the port number of the motor on this controllersetMotorEnable(int)
,
setMotorDisable(int)
void setMotorVelocity(int motor, double ticksPerSecond)
motor
- the port number of the motor on this controllerticksPerSecond
- the new target rate for that motor, in ticks per secondvoid setMotorVelocity(int motor, double angularRate, AngleUnit unit)
motor
- motor whose velocity is to be adjustedangularRate
- the new target rate for that motor, in 'unit's per secondunit
- the unit inw which angularRate is expressed.DcMotorEx.setVelocity(double, AngleUnit)
double getMotorVelocity(int motor)
motor
- the motor whose velocity is desireddouble getMotorVelocity(int motor, AngleUnit unit)
motor
- the motor whose velocity is desiredunit
- the angular unit in which the velocity is to be expressedDcMotorEx.getVelocity(AngleUnit)
@Deprecated void setPIDCoefficients(int motor, DcMotor.RunMode mode, PIDCoefficients pidCoefficients)
setPIDFCoefficients(int, DcMotor.RunMode, PIDFCoefficients)
insteadmotor
- the motor whose PID coefficients are to be setmode
- the mode on that motor whose coefficients are to be setpidCoefficients
- the new coefficients to setDcMotorEx.setPIDCoefficients(DcMotor.RunMode, PIDCoefficients)
,
getPIDCoefficients(int, DcMotor.RunMode)
void setPIDFCoefficients(int motor, DcMotor.RunMode mode, PIDFCoefficients pidfCoefficients) throws java.lang.UnsupportedOperationException
motor
- the motor whose PIDF coefficients are to be setmode
- the mode on that motor whose coefficients are to be setpidfCoefficients
- the new coefficients to setjava.lang.UnsupportedOperationException
DcMotorEx.setPIDFCoefficients(DcMotor.RunMode, PIDFCoefficients)
,
getPIDFCoefficients(int, DcMotor.RunMode)
@Deprecated PIDCoefficients getPIDCoefficients(int motor, DcMotor.RunMode mode)
getPIDFCoefficients(int, DcMotor.RunMode)
insteadmotor
- the motor whose PID coefficients are desiredmode
- the mode on that motor whose coefficients are to be queriedDcMotorEx.getPIDCoefficients(DcMotor.RunMode)
,
setPIDCoefficients(int, DcMotor.RunMode, PIDCoefficients)
PIDFCoefficients getPIDFCoefficients(int motor, DcMotor.RunMode mode)
motor
- the motor whose PIDF coefficients are desiredmode
- the mode on that motor whose coefficients are to be queriedDcMotorEx.getPIDCoefficients(DcMotor.RunMode)
,
setPIDFCoefficients(int, DcMotor.RunMode, PIDFCoefficients)
void setMotorTargetPosition(int motor, int position, int tolerance)
motor
- the motor number to be affectedposition
- the desired target position, in encoder tickstolerance
- the tolerance of the desired target position, in encoder ticksdouble getMotorCurrent(int motor, CurrentUnit unit)
motor
- motor whose current consumption is desiredunit
- current unitsDcMotorEx.getCurrent(CurrentUnit)
double getMotorCurrentAlert(int motor, CurrentUnit unit)
motor
- motor whose alert is desiredunit
- current unitssetMotorCurrentAlert(int, double, CurrentUnit)
,
DcMotorEx.setCurrentAlert(double, CurrentUnit)
,
isMotorOverCurrent(int)
void setMotorCurrentAlert(int motor, double current, CurrentUnit unit)
motor
- motor whose alert is to be setcurrent
- current alertunit
- current unitsgetMotorCurrentAlert(int, CurrentUnit)
,
DcMotorEx.getCurrentAlert(CurrentUnit)
,
isMotorOverCurrent(int)
boolean isMotorOverCurrent(int motor)
motor
- desired motorDcMotorEx.isOverCurrent()
,
getMotorCurrentAlert(int, CurrentUnit)
,
setMotorCurrentAlert(int, double, CurrentUnit)