com.qualcomm.hardware.hitechnic

Class HiTechnicNxtServoController

java.lang.Object

I2cControllerPortDeviceImpl

com.qualcomm.hardware.hitechnic.HiTechnicNxtController

com.qualcomm.hardware.hitechnic.HiTechnicNxtServoController

public final class HiTechnicNxtServoController
extends HiTechnicNxtController

HiTechnic NXT Servo Controller

Field Summary

Fields

Modifier and Type	Field and Description
protected static byte[]	ADDRESS_CHANNEL_MAP
protected static int	ADDRESS_PWM
protected static double	apiPositionMax
protected static double	apiPositionMin
protected <any>[]	commandedServoPositions
protected static I2cAddr	I2C_ADDRESS
protected static int	iRegWindowFirst
protected static int	iRegWindowMax
protected <any>	lastKnownPwmEnabled
protected static byte	PWM_DISABLE
protected static byte	PWM_ENABLE
protected static byte	PWM_ENABLE_WITHOUT_TIMEOUT
protected static int	SERVO_FIRST
protected static int	SERVO_LAST
protected static double	servoPositionMax
protected static double	servoPositionMin

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

context, i2cDevice, i2cDeviceSynch, isEngaged, isHardwareInitialized, isHooked

Constructor Summary

Constructors

Constructor and Description
HiTechnicNxtServoController(android.content.Context context, I2cController module, int physicalPort)

Method Summary

Modifier and Type	Method and Description
protected void	controllerNowArmedOrPretending()
protected void	doHook()
protected void	doUnhook()
protected void	floatHardware()
java.lang.String	getConnectionInfo()
java.lang.String	getDeviceName()
Manufacturer	getManufacturer()
PwmStatus	getPwmStatus()
double	getServoPosition(int servo)
int	getVersion()
void	initializeHardware()
void	pwmDisable()
void	pwmEnable()
void	resetDeviceConfigurationForOpMode()
void	setServoPosition(int servo, double position)

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

adjustHookingToMatchEngagement, close, controllerNowDisarmed, disengage, engage, 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

I2C_ADDRESS

protected static final I2cAddr I2C_ADDRESS

SERVO_FIRST

protected static final int SERVO_FIRST

SERVO_LAST

protected static final int SERVO_LAST

PWM_ENABLE

protected static final byte PWM_ENABLE

See Also:

Constant Field Values

PWM_ENABLE_WITHOUT_TIMEOUT

protected static final byte PWM_ENABLE_WITHOUT_TIMEOUT

See Also:

Constant Field Values

PWM_DISABLE

protected static final byte PWM_DISABLE

See Also:

Constant Field Values

ADDRESS_CHANNEL_MAP

protected static final byte[] ADDRESS_CHANNEL_MAP

ADDRESS_PWM

protected static final int ADDRESS_PWM

See Also:

Constant Field Values

iRegWindowFirst

protected static final int iRegWindowFirst

See Also:

Constant Field Values

iRegWindowMax

protected static final int iRegWindowMax

See Also:

Constant Field Values

apiPositionMin

protected static final double apiPositionMin

apiPositionMax

protected static final double apiPositionMax

servoPositionMin

protected static final double servoPositionMin

See Also:

Constant Field Values

servoPositionMax

protected static final double servoPositionMax

See Also:

Constant Field Values

commandedServoPositions

protected <any>[] commandedServoPositions

lastKnownPwmEnabled

protected <any> lastKnownPwmEnabled

Constructor Detail

HiTechnicNxtServoController

public HiTechnicNxtServoController(android.content.Context context,
                                   I2cController module,
                                   int physicalPort)

Method Detail

controllerNowArmedOrPretending

protected void controllerNowArmedOrPretending()

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

getManufacturer

public Manufacturer getManufacturer()

Overrides:

getManufacturer in class HiTechnicNxtController

getDeviceName

public java.lang.String getDeviceName()

getConnectionInfo

public java.lang.String getConnectionInfo()

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

getVersion

public int getVersion()

pwmEnable

public void pwmEnable()

pwmDisable

public void pwmDisable()

getPwmStatus

public PwmStatus getPwmStatus()

setServoPosition

public void setServoPosition(int servo,
                             double position)

getServoPosition

public double getServoPosition(int servo)

floatHardware

protected void floatHardware()

Specified by:

floatHardware in class HiTechnicNxtController