Examples with LynxDcMotorController com.qualcomm.hardware.lynx.LynxDcMotorController used on opensource projects

Example 1 with LynxDcMotorController

use of com.qualcomm.hardware.lynx.LynxDcMotorController in project robotcode by OutoftheBoxFTC.

the class HardwareFactory method mapLynxModuleComponents.

private void mapLynxModuleComponents(HardwareMap map, DeviceManager deviceMgr, LynxUsbDeviceConfiguration lynxUsbDeviceConfiguration, LynxUsbDevice lynxUsbDevice, Map<Integer, LynxModule> connectedModules) throws LynxNackException, RobotCoreException, InterruptedException {
    // Hook up the pieces to each module
    for (DeviceConfiguration moduleConfiguration : lynxUsbDeviceConfiguration.getModules()) {
        LynxModule module = connectedModules.get(moduleConfiguration.getPort());
        // Ignore modules that ultimately didn't connect
        if (module == null) {
            continue;
        }
        LynxModuleConfiguration lynxModuleConfiguration = (LynxModuleConfiguration) moduleConfiguration;
        // For each module, hook up motor controller and motors
        LynxDcMotorController mc = new LynxDcMotorController(context, module);
        map.dcMotorController.put(moduleConfiguration.getName(), mc);
        for (MotorConfiguration motorConf : lynxModuleConfiguration.getMotors()) {
            if (motorConf.isEnabled()) {
                DcMotor m = deviceMgr.createDcMotorEx(mc, motorConf.getPort(), motorConf.getMotorType(), motorConf.getName());
                map.dcMotor.put(motorConf.getName(), m);
            }
        }
        // And hook up servo controller and servos
        LynxServoController sc = new LynxServoController(context, module);
        map.servoController.put(moduleConfiguration.getName(), sc);
        for (DeviceConfiguration servoConf : lynxModuleConfiguration.getServos()) {
            mapServoEx(map, deviceMgr, servoConf, sc);
        }
        // And a voltage sensor
        LynxVoltageSensor voltageSensor = new LynxVoltageSensor(context, module);
        map.voltageSensor.put(moduleConfiguration.getName(), voltageSensor);
        // Also a PWM Output Controller
        LynxPwmOutputController pwmOutputController = new LynxPwmOutputController(context, module);
        map.put(moduleConfiguration.getName(), pwmOutputController);
        buildLynxDevices(lynxModuleConfiguration.getPwmOutputs(), map, deviceMgr, pwmOutputController);
        // Also an AnalogInputController
        LynxAnalogInputController analogInputController = new LynxAnalogInputController(context, module);
        map.put(moduleConfiguration.getName(), analogInputController);
        buildLynxDevices(lynxModuleConfiguration.getAnalogInputs(), map, deviceMgr, analogInputController);
        // And a digital channel controller
        LynxDigitalChannelController digitalChannelController = new LynxDigitalChannelController(context, module);
        map.put(moduleConfiguration.getName(), digitalChannelController);
        buildLynxDevices(lynxModuleConfiguration.getDigitalDevices(), map, deviceMgr, digitalChannelController);
        // And I2c devices
        buildLynxI2cDevices(lynxModuleConfiguration.getI2cDevices(), map, deviceMgr, module);
    }
}