com.qualcomm.robotcore.hardware

Interface DcMotorEx

All Superinterfaces:

DcMotor, DcMotorSimple, HardwareDevice

All Known Implementing Classes:

DcMotorImplEx

public interface DcMotorEx
extends DcMotor

The DcMotorEx interface provides enhanced motor functionality which is available with some hardware devices. The DcMotorEx interface is typically used as a second interface on an object whose primary interface is DcMotor. To access it, cast your DcMotor object to DcMotorEx. However, it is perhaps prudent to first test whether the cast will succeed by testing using 'instanceof'.

See Also:

PwmControl

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

Method Summary

Modifier and Type	Method and Description
PIDCoefficients	getPIDCoefficients(DcMotor.RunMode mode) Deprecated. Use #getPIDFCoefficients(RunMode) instead
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
boolean	isMotorEnabled() Returns whether this motor is energized
void	setMotorDisable() Individually de-energizes this particular motor
void	setMotorEnable() Individually energizes this particular motor
void	setPIDCoefficients(DcMotor.RunMode mode, PIDCoefficients pidCoefficients) Deprecated. Use #setPIDFCoefficients(RunMode, PIDFCoefficients) instead
void	setPIDFCoefficients(DcMotor.RunMode mode, PIDFCoefficients pidfCoefficients) setPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode, com.qualcomm.robotcore.hardware.PIDFCoefficients) is a superset enhancement to 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 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

Method Detail

setMotorEnable

void setMotorEnable()

Individually energizes this particular motor

See Also:

setMotorDisable(), isMotorEnabled()

setMotorDisable

void setMotorDisable()

Individually de-energizes this particular motor

See Also:

setMotorEnable(), isMotorEnabled()

isMotorEnabled

boolean isMotorEnabled()

Returns whether this motor is energized

See Also:

setMotorEnable(), setMotorDisable()

setVelocity

void setVelocity(double angularRate)

Sets the velocity of the motor

Parameters:

angularRate - the desired ticks per second

setVelocity

void setVelocity(double angularRate,
                 AngleUnit unit)

Sets the velocity of the motor

Parameters:

angularRate - the desired angular rate, in units per second

unit - the units in which angularRate is expressed

See Also:

getVelocity(AngleUnit)

getVelocity

double getVelocity()

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

Returns:

the current velocity of the motor

getVelocity

double getVelocity(AngleUnit unit)

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

Parameters:

unit - the units in which the angular rate is desired

Returns:

the current velocity of the motor

See Also:

setVelocity(double, AngleUnit)

setPIDCoefficients

@Deprecated
void setPIDCoefficients(DcMotor.RunMode mode,
                                     PIDCoefficients pidCoefficients)

Deprecated. Use #setPIDFCoefficients(RunMode, PIDFCoefficients) instead

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).

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

void setPIDFCoefficients(DcMotor.RunMode mode,
                         PIDFCoefficients pidfCoefficients)
                  throws java.lang.UnsupportedOperationException

setPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode, com.qualcomm.robotcore.hardware.PIDFCoefficients) is a superset enhancement to 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.

Throws:

java.lang.UnsupportedOperationException

See Also:

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

setVelocityPIDFCoefficients

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. MotorControlAlgorithm.PIDF is used.

See Also:

#setPIDFCoefficients(RunMode, PIDFCoefficients)

setPositionPIDFCoefficients

void setPositionPIDFCoefficients(double p)

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.

See Also:

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

getPIDCoefficients

@Deprecated
PIDCoefficients getPIDCoefficients(DcMotor.RunMode mode)

Deprecated. Use #getPIDFCoefficients(RunMode) instead

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

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

PIDFCoefficients getPIDFCoefficients(DcMotor.RunMode mode)

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

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)

setTargetPositionTolerance

void setTargetPositionTolerance(int tolerance)

Sets the target positioning tolerance of this motor

Parameters:

tolerance - the desired tolerance, in encoder ticks

See Also:

DcMotor.setTargetPosition(int)

getTargetPositionTolerance

int getTargetPositionTolerance()

Returns the current target positioning tolerance of this motor

Returns:

the current target positioning tolerance of this motor