com.qualcomm.robotcore.hardware

Class PWMOutputImpl

java.lang.Object

com.qualcomm.robotcore.hardware.PWMOutputImpl

All Implemented Interfaces:

HardwareDevice, PWMOutput

Direct Known Subclasses:

PWMOutputImplEx

public class PWMOutputImpl
extends java.lang.Object
implements PWMOutput

Control a single digital port

Nested Class Summary

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

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
protected PWMOutputController	controller
protected int	port

Constructor Summary

Constructors

Constructor and Description
PWMOutputImpl(PWMOutputController controller, int port) 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
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
int	getPulseWidthOutputTime() Get the pulse width output time for this port
int	getPulseWidthPeriod() Get the pulse width output
int	getVersion() Version
void	resetDeviceConfigurationForOpMode() Resets the device's configuration to that which is expected at the beginning of an OpMode.
void	setPulseWidthOutputTime(int time) Set the pulse width output time for this port.
void	setPulseWidthPeriod(int period) Set the pulse width output period.

Methods inherited from class java.lang.Object

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

Field Detail

controller

protected PWMOutputController controller

port

protected int port

Constructor Detail

PWMOutputImpl

public PWMOutputImpl(PWMOutputController controller,
                     int port)

Constructor

Parameters:

controller - Digital port controller this port is attached to

port - port on the digital port controller

Method Detail

setPulseWidthOutputTime

public void setPulseWidthOutputTime(int time)

Set the pulse width output time for this port. Typically set to a value between 750 and 2,250 to control a servo.

Specified by:

setPulseWidthOutputTime in interface PWMOutput

Parameters:

time - pulse width for the port in microseconds.

getPulseWidthOutputTime

public int getPulseWidthOutputTime()

Get the pulse width output time for this port

Specified by:

getPulseWidthOutputTime in interface PWMOutput

setPulseWidthPeriod

public void setPulseWidthPeriod(int period)

Set the pulse width output period. Typically set to 20,000 to control servo.

Specified by:

setPulseWidthPeriod in interface PWMOutput

Parameters:

period - pulse repetition period in microseconds.

getPulseWidthPeriod

public int getPulseWidthPeriod()

Get the pulse width output

Specified by:

getPulseWidthPeriod in interface PWMOutput

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