com.qualcomm.hardware.hitechnic

Class HiTechnicNxtDcMotorController

java.lang.Object

I2cControllerPortDeviceImpl

com.qualcomm.hardware.hitechnic.HiTechnicNxtController

com.qualcomm.hardware.hitechnic.HiTechnicNxtDcMotorController

public final class HiTechnicNxtDcMotorController
extends HiTechnicNxtController

HiTechnic NXT DC Motor Controller

Field Summary

Fields

Modifier and Type	Field and Description
protected static byte[]	ADDRESS_MOTOR_CURRENT_ENCODER_VALUE_MAP
protected static byte[]	ADDRESS_MOTOR_MODE_MAP
protected static byte[]	ADDRESS_MOTOR_POWER_MAP
protected static byte[]	ADDRESS_MOTOR_TARGET_ENCODER_VALUE_MAP
protected static double	apiPowerMax
protected static double	apiPowerMin
protected static byte	bPowerBrake
protected static byte	bPowerFloat
protected static byte	bPowerMax
protected static byte	bPowerMin
static int	BUSY_THRESHOLD
protected static byte	cbEncoder
protected static byte	CHANNEL_MODE_FLAG_SELECT_RESET
protected static byte	CHANNEL_MODE_FLAG_SELECT_RUN_CONSTANT_SPEED_NXT
protected static byte	CHANNEL_MODE_FLAG_SELECT_RUN_POWER_CONTROL_ONLY_NXT
protected static byte	CHANNEL_MODE_FLAG_SELECT_RUN_TO_POSITION
protected static int	CHANNEL_MODE_MASK_BUSY
protected static int	CHANNEL_MODE_MASK_EMPTY_D5
protected static int	CHANNEL_MODE_MASK_ERROR
protected static int	CHANNEL_MODE_MASK_LOCK
protected static int	CHANNEL_MODE_MASK_NO_TIMEOUT
protected static int	CHANNEL_MODE_MASK_REVERSE
protected static int	CHANNEL_MODE_MASK_SELECTION
protected static I2cAddr	I2C_ADDRESS
protected static int	iRegWindowFirst
protected static int	iRegWindowMax
protected static int	MOTOR_FIRST
protected static int	MOTOR_LAST
protected static int	MOTOR_MAX
protected static int	OFFSET_UNUSED

Fields inherited from class com.qualcomm.hardware.hitechnic.HiTechnicNxtController

context, i2cDevice, i2cDeviceSynch, isEngaged, isHardwareInitialized, isHooked

Constructor Summary

Constructors

Constructor and Description
HiTechnicNxtDcMotorController(android.content.Context context, LegacyModule module, int physicalPort)

Method Summary

Modifier and Type	Method and Description
protected void	controllerNowArmedOrPretending() Our controller is newly armed or pretending, or we're newly constructed on a controller
protected void	doHook()
protected void	doUnhook()
protected void	floatHardware()
java.lang.String	getConnectionInfo()
java.lang.String	getDeviceName()
int	getMotorCurrentPosition(int motor)
DcMotor.RunMode	getMotorMode(int motor)
double	getMotorPower(int motor)
boolean	getMotorPowerFloat(int motor)
int	getMotorTargetPosition(int motor)
MotorConfigurationType	getMotorType(int motor)
DcMotor.ZeroPowerBehavior	getMotorZeroPowerBehavior(int motor)
int	getVersion()
double	getVoltage()
void	initializeHardware()
protected void	initPID()
boolean	isBusy(int motor)
static DcMotor.RunMode	modeFromByte(byte flag)
static byte	modeToByte(DcMotor.RunMode mode)
void	resetDeviceConfigurationForOpMode()
void	resetDeviceConfigurationForOpMode(int motor)
void	setMotorMode(int motor, DcMotor.RunMode mode)
void	setMotorPower(int motor, double power)
protected void	setMotorPowerFloat(int motor)
void	setMotorTargetPosition(int motor, int position)
void	setMotorType(int motor, MotorConfigurationType motorType)
void	setMotorZeroPowerBehavior(int motor, DcMotor.ZeroPowerBehavior zeroPowerBehavior)
protected void	validateMotor(int motor)

Methods inherited from class com.qualcomm.hardware.hitechnic.HiTechnicNxtController

adjustHookingToMatchEngagement, close, controllerNowDisarmed, disengage, engage, getManufacturer, hook, isArmed, isEngaged, read8, unhook, write, write8

Methods inherited from class java.lang.Object

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

Field Detail

MOTOR_FIRST

protected static final int MOTOR_FIRST

MOTOR_LAST

protected static final int MOTOR_LAST

MOTOR_MAX

protected static final int MOTOR_MAX

I2C_ADDRESS

protected static final I2cAddr I2C_ADDRESS

OFFSET_UNUSED

protected static final int OFFSET_UNUSED

See Also:

Constant Field Values

CHANNEL_MODE_MASK_SELECTION

protected static final int CHANNEL_MODE_MASK_SELECTION

See Also:

Constant Field Values

CHANNEL_MODE_MASK_LOCK

protected static final int CHANNEL_MODE_MASK_LOCK

See Also:

Constant Field Values

CHANNEL_MODE_MASK_REVERSE

protected static final int CHANNEL_MODE_MASK_REVERSE

See Also:

Constant Field Values

CHANNEL_MODE_MASK_NO_TIMEOUT

protected static final int CHANNEL_MODE_MASK_NO_TIMEOUT

See Also:

Constant Field Values

CHANNEL_MODE_MASK_EMPTY_D5

protected static final int CHANNEL_MODE_MASK_EMPTY_D5

See Also:

Constant Field Values

CHANNEL_MODE_MASK_ERROR

protected static final int CHANNEL_MODE_MASK_ERROR

See Also:

Constant Field Values

CHANNEL_MODE_MASK_BUSY

protected static final int CHANNEL_MODE_MASK_BUSY

See Also:

Constant Field Values

CHANNEL_MODE_FLAG_SELECT_RUN_POWER_CONTROL_ONLY_NXT

protected static final byte CHANNEL_MODE_FLAG_SELECT_RUN_POWER_CONTROL_ONLY_NXT

See Also:

Constant Field Values

CHANNEL_MODE_FLAG_SELECT_RUN_CONSTANT_SPEED_NXT

protected static final byte CHANNEL_MODE_FLAG_SELECT_RUN_CONSTANT_SPEED_NXT

See Also:

Constant Field Values

CHANNEL_MODE_FLAG_SELECT_RUN_TO_POSITION

protected static final byte CHANNEL_MODE_FLAG_SELECT_RUN_TO_POSITION

See Also:

Constant Field Values

CHANNEL_MODE_FLAG_SELECT_RESET

protected static final byte CHANNEL_MODE_FLAG_SELECT_RESET

See Also:

Constant Field Values

ADDRESS_MOTOR_POWER_MAP

protected static final byte[] ADDRESS_MOTOR_POWER_MAP

ADDRESS_MOTOR_MODE_MAP

protected static final byte[] ADDRESS_MOTOR_MODE_MAP

ADDRESS_MOTOR_TARGET_ENCODER_VALUE_MAP

protected static final byte[] ADDRESS_MOTOR_TARGET_ENCODER_VALUE_MAP

ADDRESS_MOTOR_CURRENT_ENCODER_VALUE_MAP

protected static final byte[] ADDRESS_MOTOR_CURRENT_ENCODER_VALUE_MAP

iRegWindowFirst

protected static final int iRegWindowFirst

See Also:

Constant Field Values

iRegWindowMax

protected static final int iRegWindowMax

See Also:

Constant Field Values

bPowerBrake

protected static final byte bPowerBrake

See Also:

Constant Field Values

bPowerFloat

protected static final byte bPowerFloat

See Also:

Constant Field Values

bPowerMax

protected static final byte bPowerMax

See Also:

Constant Field Values

bPowerMin

protected static final byte bPowerMin

See Also:

Constant Field Values

cbEncoder

protected static final byte cbEncoder

See Also:

Constant Field Values

apiPowerMin

protected static final double apiPowerMin

See Also:

Constant Field Values

apiPowerMax

protected static final double apiPowerMax

See Also:

Constant Field Values

BUSY_THRESHOLD

public static final int BUSY_THRESHOLD

See Also:

Constant Field Values

Constructor Detail

HiTechnicNxtDcMotorController

public HiTechnicNxtDcMotorController(android.content.Context context,
                                     LegacyModule module,
                                     int physicalPort)

Method Detail

controllerNowArmedOrPretending

protected void controllerNowArmedOrPretending()

Our controller is newly armed or pretending, or we're newly constructed on a controller

doHook

protected void doHook()

Overrides:

doHook in class HiTechnicNxtController

initializeHardware

public void initializeHardware()

Specified by:

initializeHardware in class HiTechnicNxtController

doUnhook

protected void doUnhook()

Overrides:

doUnhook in class HiTechnicNxtController

getDeviceName

public java.lang.String getDeviceName()

getConnectionInfo

public java.lang.String getConnectionInfo()

getVersion

public int getVersion()

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode(int motor)

setMotorType

public void setMotorType(int motor,
                         MotorConfigurationType motorType)

getMotorType

public MotorConfigurationType getMotorType(int motor)

setMotorMode

public void setMotorMode(int motor,
                         DcMotor.RunMode mode)

getMotorMode

public DcMotor.RunMode getMotorMode(int motor)

isBusy

public boolean isBusy(int motor)

setMotorPower

public void setMotorPower(int motor,
                          double power)

getMotorPower

public double getMotorPower(int motor)

setMotorZeroPowerBehavior

public void setMotorZeroPowerBehavior(int motor,
                                      DcMotor.ZeroPowerBehavior zeroPowerBehavior)

getMotorZeroPowerBehavior

public DcMotor.ZeroPowerBehavior getMotorZeroPowerBehavior(int motor)

setMotorPowerFloat

protected void setMotorPowerFloat(int motor)

getMotorPowerFloat

public boolean getMotorPowerFloat(int motor)

setMotorTargetPosition

public void setMotorTargetPosition(int motor,
                                   int position)

getMotorTargetPosition

public int getMotorTargetPosition(int motor)

getMotorCurrentPosition

public int getMotorCurrentPosition(int motor)

validateMotor

protected void validateMotor(int motor)

modeFromByte

public static DcMotor.RunMode modeFromByte(byte flag)

modeToByte

public static byte modeToByte(DcMotor.RunMode mode)

initPID

protected void initPID()

floatHardware

protected void floatHardware()

Specified by:

floatHardware in class HiTechnicNxtController

getVoltage

public double getVoltage()