com.qualcomm.hardware.lynx

Class LynxDcMotorController

java.lang.Object

com.qualcomm.hardware.lynx.LynxCommExceptionHandler

com.qualcomm.hardware.lynx.LynxController

com.qualcomm.hardware.lynx.LynxDcMotorController

public class LynxDcMotorController
extends LynxController

LynxDcMotorController implements motor controller semantics on Lynx module

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
protected class	LynxDcMotorController.MotorProperties

Nested classes/interfaces inherited from class com.qualcomm.hardware.lynx.LynxController

LynxController.PretendLynxModule

Field Summary

Fields

Modifier and Type	Field and Description
static int	apiMotorFirst
static int	apiMotorLast
static double	apiPowerFirst
static double	apiPowerLast
protected static boolean	DEBUG
protected LynxDcMotorController.MotorProperties[]	motors
static java.lang.String	TAG

Fields inherited from class com.qualcomm.hardware.lynx.LynxController

context, hardwareDeviceHealth, isEngaged, isHardwareInitialized, isHooked, registeredCallbacks

Fields inherited from class com.qualcomm.hardware.lynx.LynxCommExceptionHandler

tag

Constructor Summary

Constructors

Constructor and Description
LynxDcMotorController(android.content.Context context, LynxModule module)

Method Summary

Modifier and Type	Method and Description
protected void	doHook()
protected void	doUnhook()
void	floatHardware()
void	forgetLastKnown()
protected int	getDefaultMaxMotorSpeed(int motorZ)
java.lang.String	getDeviceName()
protected int	getModuleAddress()
double	getMotorCurrent(int motor, CurrentUnit unit)
double	getMotorCurrentAlert(int motor, CurrentUnit unit)
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)
double	getMotorVelocity(int motor)
double	getMotorVelocity(int motor, AngleUnit unit)
DcMotor.ZeroPowerBehavior	getMotorZeroPowerBehavior(int motor)
PIDCoefficients	getPIDCoefficients(int motor, DcMotor.RunMode mode)
PIDFCoefficients	getPIDFCoefficients(int motor, DcMotor.RunMode mode)
protected java.lang.String	getTag()
void	initializeHardware()
protected DcMotor.RunMode	internalGetMotorChannelMode(int motorZ) like internalGetPublicMotorMode(int), but ALWAYS returns a value that can be set with LynxSetMotorChannelModeCommand.
protected DcMotor.RunMode	internalGetPublicMotorMode(int motorZ)
protected boolean	internalSetPIDFCoefficients(int motorZ, DcMotor.RunMode mode, PIDFCoefficients pidfCoefficients)
boolean	isBusy(int motor)
boolean	isMotorEnabled(int motor)
boolean	isMotorOverCurrent(int motor)
protected void	rememberPIDParams(int motorZ, ExpansionHubMotorControllerParamsState params)
void	resetDeviceConfigurationForOpMode(int motor)
void	setMotorCurrentAlert(int motor, double current, CurrentUnit unit)
void	setMotorDisable(int motor)
void	setMotorEnable(int motor)
void	setMotorMode(int motor, DcMotor.RunMode mode)
void	setMotorPower(int motor, double apiMotorPower)
protected void	setMotorPowerFloat(int motor)
void	setMotorTargetPosition(int motor, int position)
void	setMotorTargetPosition(int motor, int position, int tolerance)
void	setMotorType(int motor, MotorConfigurationType motorType)
void	setMotorVelocity(int motor, double ticksPerSecond)
void	setMotorVelocity(int motor, double angularRate, AngleUnit unit)
void	setMotorZeroPowerBehavior(int motor, DcMotor.ZeroPowerBehavior zeroPowerBehavior)
void	setPIDCoefficients(int motor, DcMotor.RunMode mode, PIDCoefficients pidCoefficients)
void	setPIDFCoefficients(int motor, DcMotor.RunMode mode, PIDFCoefficients pidfCoefficients)
protected void	updateMotorParams(int motorZ)

Methods inherited from class com.qualcomm.hardware.lynx.LynxController

adjustHookingToMatchEngagement, close, disengage, engage, finishConstruction, getArmingState, getConnectionInfo, getHealthStatus, getHealthStatusOverride, getManufacturer, getModule, getSerialNumber, getVersion, hook, isArmed, isEngaged, moduleNowArmedOrPretending, moduleNowDisarmed, onModuleStateChange, registerCallback, resetDeviceConfigurationForOpMode, setHealthStatus, setHealthyIfArmed, unhook, unregisterCallback

Methods inherited from class com.qualcomm.hardware.lynx.LynxCommExceptionHandler

handleException, handleSpecificException, handleSpecificException

Methods inherited from class java.lang.Object

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

Field Detail

apiMotorFirst

public static final int apiMotorFirst

apiMotorLast

public static final int apiMotorLast

apiPowerFirst

public static final double apiPowerFirst

See Also:

Constant Field Values

apiPowerLast

public static final double apiPowerLast

See Also:

Constant Field Values

TAG

public static final java.lang.String TAG

See Also:

Constant Field Values

DEBUG

protected static boolean DEBUG

motors

protected final LynxDcMotorController.MotorProperties[] motors

Constructor Detail

LynxDcMotorController

public LynxDcMotorController(android.content.Context context,
                             LynxModule module)
                      throws RobotCoreException,
                             java.lang.InterruptedException

Throws:

RobotCoreException

java.lang.InterruptedException

Method Detail

getTag

protected java.lang.String getTag()

Specified by:

getTag in class LynxController

initializeHardware

public void initializeHardware()
                        throws RobotCoreException,
                               java.lang.InterruptedException

Overrides:

initializeHardware in class LynxController

Throws:

RobotCoreException

java.lang.InterruptedException

doHook

protected void doHook()

Overrides:

doHook in class LynxController

doUnhook

protected void doUnhook()

Overrides:

doUnhook in class LynxController

forgetLastKnown

public void forgetLastKnown()

Overrides:

forgetLastKnown in class LynxController

getDeviceName

public java.lang.String getDeviceName()

Specified by:

getDeviceName in class LynxController

setMotorEnable

public void setMotorEnable(int motor)

setMotorDisable

public void setMotorDisable(int motor)

isMotorEnabled

public boolean isMotorEnabled(int motor)

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode(int motor)

getMotorType

public MotorConfigurationType getMotorType(int motor)

setMotorType

public void setMotorType(int motor,
                         MotorConfigurationType motorType)

rememberPIDParams

protected void rememberPIDParams(int motorZ,
                                 ExpansionHubMotorControllerParamsState params)

updateMotorParams

protected void updateMotorParams(int motorZ)

getDefaultMaxMotorSpeed

protected int getDefaultMaxMotorSpeed(int motorZ)

setMotorMode

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

getMotorMode

public DcMotor.RunMode getMotorMode(int motor)

internalGetPublicMotorMode

protected DcMotor.RunMode internalGetPublicMotorMode(int motorZ)

See Also:

internalGetMotorChannelMode(int)

internalGetMotorChannelMode

protected DcMotor.RunMode internalGetMotorChannelMode(int motorZ)

like internalGetPublicMotorMode(int), but ALWAYS returns a value that can be set with LynxSetMotorChannelModeCommand. We also don't here update lastKnownMode.

See Also:

internalGetPublicMotorMode(int)

setMotorPower

public void setMotorPower(int motor,
                          double apiMotorPower)

getMotorPower

public double getMotorPower(int motor)

isBusy

public boolean isBusy(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)

setMotorTargetPosition

public void setMotorTargetPosition(int motor,
                                   int position,
                                   int tolerance)

getMotorTargetPosition

public int getMotorTargetPosition(int motor)

getMotorCurrentPosition

public int getMotorCurrentPosition(int motor)

setMotorVelocity

public void setMotorVelocity(int motor,
                             double ticksPerSecond)

setMotorVelocity

public void setMotorVelocity(int motor,
                             double angularRate,
                             AngleUnit unit)

getMotorVelocity

public double getMotorVelocity(int motor)

getMotorVelocity

public double getMotorVelocity(int motor,
                               AngleUnit unit)

setPIDCoefficients

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

setPIDFCoefficients

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

internalSetPIDFCoefficients

protected boolean internalSetPIDFCoefficients(int motorZ,
                                              DcMotor.RunMode mode,
                                              PIDFCoefficients pidfCoefficients)

getPIDCoefficients

public PIDCoefficients getPIDCoefficients(int motor,
                                          DcMotor.RunMode mode)

getPIDFCoefficients

public PIDFCoefficients getPIDFCoefficients(int motor,
                                            DcMotor.RunMode mode)

getMotorCurrent

public double getMotorCurrent(int motor,
                              CurrentUnit unit)

getMotorCurrentAlert

public double getMotorCurrentAlert(int motor,
                                   CurrentUnit unit)

setMotorCurrentAlert

public void setMotorCurrentAlert(int motor,
                                 double current,
                                 CurrentUnit unit)

isMotorOverCurrent

public boolean isMotorOverCurrent(int motor)

floatHardware

public void floatHardware()

Overrides:

floatHardware in class LynxController

getModuleAddress

protected int getModuleAddress()