com.qualcomm.robotcore.hardware

Class DcMotorImplEx

java.lang.Object

com.qualcomm.robotcore.hardware.DcMotorImpl

com.qualcomm.robotcore.hardware.DcMotorImplEx

All Implemented Interfaces:

DcMotor, DcMotorEx, DcMotorSimple, HardwareDevice

public class DcMotorImplEx
extends DcMotorImpl
implements DcMotorEx

DcMotorImplEx is a motor that supports the DcMotorEx interface in addition to simply DcMotor.

Nested Class Summary

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

DcMotor.RunMode, DcMotor.ZeroPowerBehavior

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

DcMotorSimple.Direction

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

HardwareDevice.Manufacturer

Field Summary

Fields inherited from class com.qualcomm.robotcore.hardware.DcMotorImpl

controller, direction, motorType, portNumber

Constructor Summary

Constructors

Constructor and Description
DcMotorImplEx(DcMotorController controller, int portNumber)
DcMotorImplEx(DcMotorController controller, int portNumber, DcMotorSimple.Direction direction)
DcMotorImplEx(DcMotorController controller, int portNumber, DcMotorSimple.Direction direction, MotorConfigurationType motorType)

Method Summary

Modifier and Type	Method and Description
protected double	adjustAngularRate(double angularRate)
double	getCurrent(CurrentUnit unit) Returns the current consumed by this motor.
double	getCurrentAlert(CurrentUnit unit) Returns the current alert for this motor.
PIDCoefficients	getPIDCoefficients(DcMotor.RunMode mode) Returns the PID control coefficients used when running in the indicated mode on this motor.
PIDFCoefficients	getPIDFCoefficients(DcMotor.RunMode mode) Returns the PIDF control coefficients used when running in the indicated mode on this motor.
int	getTargetPositionTolerance() Returns the current target positioning tolerance of this motor
double	getVelocity() Returns the current velocity of the motor, in ticks per second
double	getVelocity(AngleUnit unit) Returns the current velocity of the motor, in angular units per second
protected void	internalSetTargetPosition(int position)
boolean	isMotorEnabled() Returns whether this motor is energized
boolean	isOverCurrent() Returns whether the current consumption of this motor exceeds the alert threshold.
void	setCurrentAlert(double current, CurrentUnit unit) Sets the current alert for this motor
void	setMotorDisable() Individually de-energizes this particular motor
void	setMotorEnable() Individually energizes this particular motor
void	setPIDCoefficients(DcMotor.RunMode mode, PIDCoefficients pidCoefficients) Sets the PID control coefficients for one of the PID modes of this motor.
void	setPIDFCoefficients(DcMotor.RunMode mode, PIDFCoefficients pidfCoefficients) DcMotorEx.setPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode, com.qualcomm.robotcore.hardware.PIDFCoefficients) is a superset enhancement to DcMotorEx.setPIDCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode, com.qualcomm.robotcore.hardware.PIDCoefficients).
void	setPositionPIDFCoefficients(double p) A shorthand for setting the PIDF coefficients for the DcMotor.RunMode.RUN_TO_POSITION mode.
void	setTargetPositionTolerance(int tolerance) Sets the target positioning tolerance of this motor
void	setVelocity(double angularRate) Sets the velocity of the motor
void	setVelocity(double angularRate, AngleUnit unit) Sets the velocity of the motor
void	setVelocityPIDFCoefficients(double p, double i, double d, double f) A shorthand for setting the PIDF coefficients for the DcMotor.RunMode.RUN_USING_ENCODER mode.

Methods inherited from class com.qualcomm.robotcore.hardware.DcMotorImpl

adjustPosition, adjustPower, close, getConnectionInfo, getController, getCurrentPosition, getDeviceName, getDirection, getManufacturer, getMode, getMotorType, getOperationalDirection, getPortNumber, getPower, getPowerFloat, getTargetPosition, getVersion, getZeroPowerBehavior, internalSetMode, internalSetPower, isBusy, resetDeviceConfigurationForOpMode, setDirection, setMode, setMotorType, setPower, setPowerFloat, setTargetPosition, setZeroPowerBehavior

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.DcMotor

getController, getCurrentPosition, getMode, getMotorType, getPortNumber, getPowerFloat, getTargetPosition, getZeroPowerBehavior, isBusy, setMode, setMotorType, setPowerFloat, setTargetPosition, setZeroPowerBehavior

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

getDirection, getPower, setDirection, setPower

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

close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Constructor Detail

DcMotorImplEx

public DcMotorImplEx(DcMotorController controller,
                     int portNumber)

DcMotorImplEx

public DcMotorImplEx(DcMotorController controller,
                     int portNumber,
                     DcMotorSimple.Direction direction)

DcMotorImplEx

public DcMotorImplEx(DcMotorController controller,
                     int portNumber,
                     DcMotorSimple.Direction direction,
                     MotorConfigurationType motorType)

Method Detail

setMotorEnable

public void setMotorEnable()

Description copied from interface: DcMotorEx

Individually energizes this particular motor

Specified by:

setMotorEnable in interface DcMotorEx

See Also:

DcMotorEx.setMotorDisable(), DcMotorEx.isMotorEnabled()

setMotorDisable

public void setMotorDisable()

Description copied from interface: DcMotorEx

Individually de-energizes this particular motor

Specified by:

setMotorDisable in interface DcMotorEx

See Also:

DcMotorEx.setMotorEnable(), DcMotorEx.isMotorEnabled()

isMotorEnabled

public boolean isMotorEnabled()

Description copied from interface: DcMotorEx

Returns whether this motor is energized

Specified by:

isMotorEnabled in interface DcMotorEx

See Also:

DcMotorEx.setMotorEnable(), DcMotorEx.setMotorDisable()

setVelocity

public void setVelocity(double angularRate)

Description copied from interface: DcMotorEx

Sets the velocity of the motor

Specified by:

setVelocity in interface DcMotorEx

Parameters:

angularRate - the desired ticks per second

setVelocity

public void setVelocity(double angularRate,
                        AngleUnit unit)

Description copied from interface: DcMotorEx

Sets the velocity of the motor

Specified by:

setVelocity in interface DcMotorEx

Parameters:

angularRate - the desired angular rate, in units per second

unit - the units in which angularRate is expressed

See Also:

DcMotorEx.getVelocity(AngleUnit)

getVelocity

public double getVelocity()

Description copied from interface: DcMotorEx

Returns the current velocity of the motor, in ticks per second

Specified by:

getVelocity in interface DcMotorEx

Returns:

the current velocity of the motor

getVelocity

public double getVelocity(AngleUnit unit)

Description copied from interface: DcMotorEx

Returns the current velocity of the motor, in angular units per second

Specified by:

getVelocity in interface DcMotorEx

Parameters:

unit - the units in which the angular rate is desired

Returns:

the current velocity of the motor

See Also:

DcMotorEx.setVelocity(double, AngleUnit)

adjustAngularRate

protected double adjustAngularRate(double angularRate)

setPIDCoefficients

public void setPIDCoefficients(DcMotor.RunMode mode,
                               PIDCoefficients pidCoefficients)

Description copied from interface: DcMotorEx

Sets the PID control coefficients for one of the PID modes of this motor. Note that in some controller implementations, setting the PID coefficients for one mode on a motor might affect other modes on that motor, or might affect the PID coefficients used by other motors on the same controller (this is not true on the REV Expansion Hub).

Specified by:

setPIDCoefficients in interface DcMotorEx

Parameters:

mode - either RunMode#RUN_USING_ENCODER or RunMode#RUN_TO_POSITION

pidCoefficients - the new coefficients to use when in that mode on this motor

See Also:

#getPIDCoefficients(RunMode)

setPIDFCoefficients

public void setPIDFCoefficients(DcMotor.RunMode mode,
                                PIDFCoefficients pidfCoefficients)

Description copied from interface: DcMotorEx

DcMotorEx.setPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode, com.qualcomm.robotcore.hardware.PIDFCoefficients) is a superset enhancement to DcMotorEx.setPIDCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode, com.qualcomm.robotcore.hardware.PIDCoefficients). In addition to the proportional, integral, and derivative coefficients previously supported, a feed-forward coefficient may also be specified. Further, a selection of motor control algorithms is offered: the originally-shipped Legacy PID algorithm, and a PIDF algorithm which avails itself of the feed-forward coefficient. Note that the feed-forward coefficient is not used by the Legacy PID algorithm; thus, the feed-forward coefficient must be indicated as zero if the Legacy PID algorithm is used. Also: the internal implementation of these algorithms may be different: it is not the case that the use of PIDF with the F term as zero necessarily exhibits exactly the same behavior as the use of the LegacyPID algorithm, though in practice they will be quite close. Readers are reminded that DcMotor.RunMode.RUN_TO_POSITION mode makes use of both the coefficients set for RUN_TO_POSITION and the coefficients set for RUN_WITH_ENCODER, due to the fact that internally the RUN_TO_POSITION logic calculates an on-the-fly velocity goal on each control cycle, then (logically) runs the RUN_WITH_ENCODER logic. Because of that double- layering, only the proportional ('p') coefficient makes logical sense for use in the RUN_TO_POSITION coefficients.

Specified by:

setPIDFCoefficients in interface DcMotorEx

See Also:

DcMotorEx.setVelocityPIDFCoefficients(double, double, double, double), DcMotorEx.setPositionPIDFCoefficients(double), #getPIDFCoefficients(RunMode)

setVelocityPIDFCoefficients

public void setVelocityPIDFCoefficients(double p,
                                        double i,
                                        double d,
                                        double f)

Description copied from interface: DcMotorEx

A shorthand for setting the PIDF coefficients for the DcMotor.RunMode.RUN_USING_ENCODER mode. MotorControlAlgorithm.PIDF is used.

Specified by:

setVelocityPIDFCoefficients in interface DcMotorEx

See Also:

#setPIDFCoefficients(RunMode, PIDFCoefficients)

setPositionPIDFCoefficients

public void setPositionPIDFCoefficients(double p)

Description copied from interface: DcMotorEx

A shorthand for setting the PIDF coefficients for the DcMotor.RunMode.RUN_TO_POSITION mode. MotorControlAlgorithm.PIDF is used. Readers are reminded that DcMotor.RunMode.RUN_TO_POSITION mode makes use of both the coefficients set for RUN_TO_POSITION and the coefficients set for RUN_WITH_ENCODER, due to the fact that internally the RUN_TO_POSITION logic calculates an on-the-fly velocity goal on each control cycle, then (logically) runs the RUN_WITH_ENCODER logic. Because of that double- layering, only the proportional ('p') coefficient makes logical sense for use in the RUN_TO_POSITION coefficients.

Specified by:

setPositionPIDFCoefficients in interface DcMotorEx

See Also:

DcMotorEx.setVelocityPIDFCoefficients(double, double, double, double), #setPIDFCoefficients(RunMode, PIDFCoefficients)

getPIDCoefficients

public PIDCoefficients getPIDCoefficients(DcMotor.RunMode mode)

Description copied from interface: DcMotorEx

Returns the PID control coefficients used when running in the indicated mode on this motor.

Specified by:

getPIDCoefficients in interface DcMotorEx

Parameters:

mode - either RunMode#RUN_USING_ENCODER or RunMode#RUN_TO_POSITION

Returns:

the PID control coefficients used when running in the indicated mode on this motor

getPIDFCoefficients

public PIDFCoefficients getPIDFCoefficients(DcMotor.RunMode mode)

Description copied from interface: DcMotorEx

Returns the PIDF control coefficients used when running in the indicated mode on this motor.

Specified by:

getPIDFCoefficients in interface DcMotorEx

Parameters:

mode - either RunMode#RUN_USING_ENCODER or RunMode#RUN_TO_POSITION

Returns:

the PIDF control coefficients used when running in the indicated mode on this motor

See Also:

#setPIDFCoefficients(RunMode, PIDFCoefficients)

getTargetPositionTolerance

public int getTargetPositionTolerance()

Description copied from interface: DcMotorEx

Returns the current target positioning tolerance of this motor

Specified by:

getTargetPositionTolerance in interface DcMotorEx

Returns:

the current target positioning tolerance of this motor

setTargetPositionTolerance

public void setTargetPositionTolerance(int tolerance)

Description copied from interface: DcMotorEx

Sets the target positioning tolerance of this motor

Specified by:

setTargetPositionTolerance in interface DcMotorEx

Parameters:

tolerance - the desired tolerance, in encoder ticks

See Also:

DcMotor.setTargetPosition(int)

internalSetTargetPosition

protected void internalSetTargetPosition(int position)

Overrides:

internalSetTargetPosition in class DcMotorImpl

getCurrent

public double getCurrent(CurrentUnit unit)

Description copied from interface: DcMotorEx

Returns the current consumed by this motor.

Specified by:

getCurrent in interface DcMotorEx

Parameters:

unit - current units

Returns:

the current consumed by this motor.

getCurrentAlert

public double getCurrentAlert(CurrentUnit unit)

Description copied from interface: DcMotorEx

Returns the current alert for this motor.

Specified by:

getCurrentAlert in interface DcMotorEx

Parameters:

unit - current units

Returns:

the current alert for this motor

setCurrentAlert

public void setCurrentAlert(double current,
                            CurrentUnit unit)

Description copied from interface: DcMotorEx

Sets the current alert for this motor

Specified by:

setCurrentAlert in interface DcMotorEx

Parameters:

current - current alert

unit - current units

isOverCurrent

public boolean isOverCurrent()

Description copied from interface: DcMotorEx

Returns whether the current consumption of this motor exceeds the alert threshold.

Specified by:

isOverCurrent in interface DcMotorEx

Returns:

whether the current consumption of this motor exceeds the alert threshold.