com.qualcomm.robotcore.hardware

Class CRServoImpl

java.lang.Object

com.qualcomm.robotcore.hardware.CRServoImpl

All Implemented Interfaces:

CRServo, DcMotorSimple, HardwareDevice

Direct Known Subclasses:

CRServoImplEx

public class CRServoImpl
extends java.lang.Object
implements CRServo

ContinuousRotationServoImpl provides an implementation of continuous rotation servo functionality.

Nested Class Summary

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

Field Summary

Fields

Modifier and Type	Field and Description
protected static double	apiPowerMax
protected static double	apiPowerMin
protected static double	apiServoPositionMax
protected static double	apiServoPositionMin
protected ServoController	controller
protected DcMotorSimple.Direction	direction
protected int	portNumber

Constructor Summary

Constructors

Constructor and Description
CRServoImpl(ServoController controller, int portNumber) Constructor
CRServoImpl(ServoController controller, int portNumber, DcMotorSimple.Direction direction) Constructor

Method Summary

Modifier and Type	Method and Description
void	close() Closes this device
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
ServoController	getController() Returns the underlying servo controller on which this servo is situated.
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
DcMotorSimple.Direction	getDirection() Returns the current logical direction in which this motor is set as operating.
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
int	getPortNumber() Returns the port number on the underlying servo controller on which this motor is situated.
double	getPower() Returns the current configured power level of the motor.
int	getVersion() Version
void	resetDeviceConfigurationForOpMode() Resets the device's configuration to that which is expected at the beginning of an OpMode.
void	setDirection(DcMotorSimple.Direction direction) Sets the logical direction in which this motor operates.
void	setPower(double power) Sets the power level of the motor, expressed as a fraction of the maximum possible power / speed supported according to the run mode in which the motor is operating.

Methods inherited from class java.lang.Object

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

Field Detail

controller

protected ServoController controller

portNumber

protected int portNumber

direction

protected DcMotorSimple.Direction direction

apiPowerMin

protected static final double apiPowerMin

See Also:

Constant Field Values

apiPowerMax

protected static final double apiPowerMax

See Also:

Constant Field Values

apiServoPositionMin

protected static final double apiServoPositionMin

See Also:

Constant Field Values

apiServoPositionMax

protected static final double apiServoPositionMax

See Also:

Constant Field Values

Constructor Detail

CRServoImpl

public CRServoImpl(ServoController controller,
                   int portNumber)

Constructor

Parameters:

controller - Servo controller that this servo is attached to

portNumber - physical port number on the servo controller

CRServoImpl

public CRServoImpl(ServoController controller,
                   int portNumber,
                   DcMotorSimple.Direction direction)

Constructor

Parameters:

controller - Servo controller that this servo is attached to

portNumber - physical port number on the servo controller

direction - FORWARD for normal operation, REVERSE to reverse operation

Method Detail

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

Description copied from interface: HardwareDevice

Resets the device's configuration to that which is expected at the beginning of an OpMode. For example, motors will reset the their direction to 'forward'.

Specified by:

resetDeviceConfigurationForOpMode in interface HardwareDevice

close

public void close()

Description copied from interface: HardwareDevice

Closes this device

Specified by:

close in interface HardwareDevice

getController

public ServoController getController()

Description copied from interface: CRServo

Returns the underlying servo controller on which this servo is situated.

Specified by:

getController in interface CRServo

Returns:

the underlying servo controller on which this servo is situated.

See Also:

CRServo.getPortNumber()

getPortNumber

public int getPortNumber()

Description copied from interface: CRServo

Returns the port number on the underlying servo controller on which this motor is situated.

Specified by:

getPortNumber in interface CRServo

Returns:

the port number on the underlying servo controller on which this motor is situated.

See Also:

CRServo.getController()

setDirection

public void setDirection(DcMotorSimple.Direction direction)

Description copied from interface: DcMotorSimple

Sets the logical direction in which this motor operates.

Specified by:

setDirection in interface DcMotorSimple

Parameters:

direction - the direction to set for this motor

See Also:

DcMotorSimple.getDirection()

getDirection

public DcMotorSimple.Direction getDirection()

Description copied from interface: DcMotorSimple

Returns the current logical direction in which this motor is set as operating.

Specified by:

getDirection in interface DcMotorSimple

Returns:

the current logical direction in which this motor is set as operating.

See Also:

DcMotorSimple.setDirection(Direction)

setPower

public void setPower(double power)

Description copied from interface: DcMotorSimple

Sets the power level of the motor, expressed as a fraction of the maximum possible power / speed supported according to the run mode in which the motor is operating.

Setting a power level of zero will brake the motor

Specified by:

setPower in interface DcMotorSimple

Parameters:

power - the new power level of the motor, a value in the interval [-1.0, 1.0]

See Also:

DcMotorSimple.getPower(), DcMotor.setMode(DcMotor.RunMode), DcMotor.setPowerFloat()

getPower

public double getPower()

Description copied from interface: DcMotorSimple

Returns the current configured power level of the motor.

Specified by:

getPower in interface DcMotorSimple

Returns:

the current level of the motor, a value in the interval [0.0, 1.0]

See Also:

DcMotorSimple.setPower(double)