com.qualcomm.robotcore.hardware

Interface DcMotorControllerEx

All Superinterfaces:

DcMotorController, HardwareDevice

public interface DcMotorControllerEx
extends DcMotorController

DcMotorControllerEx is an optional motor controller interface supported by some hardware that provides enhanced motor functionality.

See Also:

DcMotorEx

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Method Summary

Modifier and Type	Method and Description
double	getMotorVelocity(int motor) Returns the velocity of the indicated motor in ticks per second.
double	getMotorVelocity(int motor, AngleUnit unit) Returns the velocity of the indicated motor.
PIDCoefficients	getPIDCoefficients(int motor, DcMotor.RunMode mode) Deprecated. Use getPIDFCoefficients(int, DcMotor.RunMode) instead
PIDFCoefficients	getPIDFCoefficients(int motor, DcMotor.RunMode mode) Returns the coefficients used for PIDF control on the indicated motor when in the indicated mode
boolean	isMotorEnabled(int motor) Returns whether a particular motor on the controller is energized
void	setMotorDisable(int motor) Individually denergizes a particular motor
void	setMotorEnable(int motor) Individually energizes a particular motor
void	setMotorTargetPosition(int motor, int position, int tolerance) Sets the target position and tolerance for a 'run to position' operation.
void	setMotorVelocity(int motor, double ticksPerSecond) Sets the target velocity of the indicated motor.
void	setMotorVelocity(int motor, double angularRate, AngleUnit unit) Sets the target velocity of the indicated motor.
void	setPIDCoefficients(int motor, DcMotor.RunMode mode, PIDCoefficients pidCoefficients) Deprecated. Use setPIDFCoefficients(int, DcMotor.RunMode, PIDFCoefficients) instead
void	setPIDFCoefficients(int motor, DcMotor.RunMode mode, PIDFCoefficients pidfCoefficients) Sets the coefficients used for PIDF control on the indicated motor when in the indicated mode

Methods inherited from interface com.qualcomm.robotcore.hardware.DcMotorController

getMotorCurrentPosition, getMotorMode, getMotorPower, getMotorPowerFloat, getMotorTargetPosition, getMotorType, getMotorZeroPowerBehavior, isBusy, resetDeviceConfigurationForOpMode, setMotorMode, setMotorPower, setMotorTargetPosition, setMotorType, setMotorZeroPowerBehavior

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getDeviceName, getManufacturer, getVersion, resetDeviceConfigurationForOpMode

Method Detail

setMotorEnable

void setMotorEnable(int motor)

Individually energizes a particular motor

Parameters:

motor - the port number of the motor on this controller

See Also:

setMotorDisable(int), isMotorEnabled(int)

setMotorDisable

void setMotorDisable(int motor)

Individually denergizes a particular motor

Parameters:

motor - the port number of the motor on this controller

See Also:

setMotorEnable(int), isMotorEnabled(int)

isMotorEnabled

boolean isMotorEnabled(int motor)

Returns whether a particular motor on the controller is energized

Parameters:

motor - the port number of the motor on this controller

See Also:

setMotorEnable(int), setMotorDisable(int)

setMotorVelocity

void setMotorVelocity(int motor,
                      double ticksPerSecond)

Sets the target velocity of the indicated motor.

Parameters:

motor - the port number of the motor on this controller

ticksPerSecond - the new target rate for that motor, in ticks per second

setMotorVelocity

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

Sets the target velocity of the indicated motor.

Parameters:

motor - motor whose velocity is to be adjusted

angularRate - the new target rate for that motor, in 'unit's per second

unit - the unit inw which angularRate is expressed.

See Also:

DcMotorEx.setVelocity(double, AngleUnit)

getMotorVelocity

double getMotorVelocity(int motor)

Returns the velocity of the indicated motor in ticks per second.

Parameters:

motor - the motor whose velocity is desired

Returns:

the current target velocity of the motor in ticks per second

getMotorVelocity

double getMotorVelocity(int motor,
                        AngleUnit unit)

Returns the velocity of the indicated motor.

Parameters:

motor - the motor whose velocity is desired

unit - the angular unit in which the velocity is to be expressed

Returns:

the current velocity of the motor

See Also:

DcMotorEx.getVelocity(AngleUnit)

setPIDCoefficients

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

Deprecated. Use setPIDFCoefficients(int, DcMotor.RunMode, PIDFCoefficients) instead

Sets the coefficients used for PID control on the indicated motor when in the indicated mode

Parameters:

motor - the motor whose PID coefficients are to be set

mode - the mode on that motor whose coefficients are to be set

pidCoefficients - the new coefficients to set

See Also:

DcMotorEx.setPIDCoefficients(DcMotor.RunMode, PIDCoefficients), getPIDCoefficients(int, DcMotor.RunMode)

setPIDFCoefficients

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

Sets the coefficients used for PIDF control on the indicated motor when in the indicated mode

Parameters:

motor - the motor whose PIDF coefficients are to be set

mode - the mode on that motor whose coefficients are to be set

pidfCoefficients - the new coefficients to set

Throws:

java.lang.UnsupportedOperationException

See Also:

DcMotorEx.setPIDFCoefficients(DcMotor.RunMode, PIDFCoefficients), getPIDFCoefficients(int, DcMotor.RunMode)

getPIDCoefficients

@Deprecated
PIDCoefficients getPIDCoefficients(int motor,
                                                DcMotor.RunMode mode)

Deprecated. Use getPIDFCoefficients(int, DcMotor.RunMode) instead

Returns the coefficients used for PID control on the indicated motor when in the indicated mode

Parameters:

motor - the motor whose PID coefficients are desired

mode - the mode on that motor whose coefficients are to be queried

Returns:

the coefficients used for PID control on the indicated motor when in the indicated mode

See Also:

DcMotorEx.getPIDCoefficients(DcMotor.RunMode), setPIDCoefficients(int, DcMotor.RunMode, PIDCoefficients)

getPIDFCoefficients

PIDFCoefficients getPIDFCoefficients(int motor,
                                     DcMotor.RunMode mode)

Returns the coefficients used for PIDF control on the indicated motor when in the indicated mode

Parameters:

motor - the motor whose PIDF coefficients are desired

mode - the mode on that motor whose coefficients are to be queried

Returns:

the coefficients used for PIDF control on the indicated motor when in the indicated mode

See Also:

DcMotorEx.getPIDCoefficients(DcMotor.RunMode), setPIDFCoefficients(int, DcMotor.RunMode, PIDFCoefficients)

setMotorTargetPosition

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

Sets the target position and tolerance for a 'run to position' operation.

Parameters:

motor - the motor number to be affected

position - the desired target position, in encoder ticks

tolerance - the tolerance of the desired target position, in encoder ticks