com.qualcomm.hardware.matrix

Class MatrixDcMotorController

java.lang.Object

com.qualcomm.hardware.matrix.MatrixDcMotorController

public class MatrixDcMotorController
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field and Description
protected static double	apiPowerMax
protected static double	apiPowerMin
protected MatrixMasterController	master
static byte	POWER_MAX
static byte	POWER_MIN

Constructor Summary

Constructors

Constructor and Description
MatrixDcMotorController(MatrixMasterController master)

Method Summary

Modifier and Type	Method and Description
void	close()
protected DcMotor.RunMode	flagMatrixToRunMode(byte flag)
int	getBattery()
java.lang.String	getConnectionInfo()
java.lang.String	getDeviceName()
Manufacturer	getManufacturer()
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()
void	handleReadBattery(byte[] buffer)
void	handleReadMode(MatrixI2cTransaction transaction, byte[] buffer)
void	handleReadPosition(MatrixI2cTransaction transaction, byte[] buffer)
void	handleReadTargetPosition(MatrixI2cTransaction transaction, byte[] buffer)
boolean	isBusy(int motor)
void	resetDeviceConfigurationForOpMode()
void	resetDeviceConfigurationForOpMode(int motor)
protected byte	runModeToFlagMatrix(DcMotor.RunMode mode)
void	setMotorMode(int motor, DcMotor.RunMode mode)
void	setMotorPower(int motor, double power)
void	setMotorPower(java.util.Set<DcMotor> motors, double power) Sets the power for a group of motors.
protected void	setMotorPowerFloat(int motor)
void	setMotorTargetPosition(int motor, int position)
void	setMotorType(int motor, MotorConfigurationType motorType)
void	setMotorZeroPowerBehavior(int motor, DcMotor.ZeroPowerBehavior zeroPowerBehavior)

Methods inherited from class java.lang.Object

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

Field Detail

POWER_MAX

public static final byte POWER_MAX

See Also:

Constant Field Values

POWER_MIN

public static final byte POWER_MIN

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

master

protected MatrixMasterController master

Constructor Detail

MatrixDcMotorController

public MatrixDcMotorController(MatrixMasterController master)

Method Detail

runModeToFlagMatrix

protected byte runModeToFlagMatrix(DcMotor.RunMode mode)

flagMatrixToRunMode

protected DcMotor.RunMode flagMatrixToRunMode(byte flag)

isBusy

public boolean isBusy(int motor)

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)

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)

setMotorPower

public void setMotorPower(java.util.Set<DcMotor> motors,
                          double power)

Sets the power for a group of motors.

Parameters:

motors - This provides an optimization specific to the Matrix controller by using the controller's pending bit to tell all of the motors to start at the same time.

power - The motor power to apply to all motors in the set.

setMotorPower

public void setMotorPower(int motor,
                          double power)

getMotorPower

public double getMotorPower(int motor)

setMotorTargetPosition

public void setMotorTargetPosition(int motor,
                                   int position)

getMotorTargetPosition

public int getMotorTargetPosition(int motor)

getMotorCurrentPosition

public int getMotorCurrentPosition(int motor)

getBattery

public int getBattery()

getManufacturer

public Manufacturer getManufacturer()

getDeviceName

public java.lang.String getDeviceName()

getConnectionInfo

public java.lang.String getConnectionInfo()

getVersion

public int getVersion()

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

close

public void close()

handleReadBattery

public void handleReadBattery(byte[] buffer)

handleReadPosition

public void handleReadPosition(MatrixI2cTransaction transaction,
                               byte[] buffer)

handleReadTargetPosition

public void handleReadTargetPosition(MatrixI2cTransaction transaction,
                                     byte[] buffer)

handleReadMode

public void handleReadMode(MatrixI2cTransaction transaction,
                           byte[] buffer)