Examples with ModernRoboticsUsbServoController com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbServoController used on opensource projects

Example 1 with ModernRoboticsUsbServoController

use of com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbServoController in project robotcode by OutoftheBoxFTC.

the class HardwareDeviceManager method createUsbServoController.

/* (non-Javadoc)
     * @see com.qualcomm.hardware.DeviceManager#createUsbServoController(com.qualcomm.robotcore.util.SerialNumber)
     */
@Override
public ServoController createUsbServoController(final SerialNumber serialNumber, String name) throws RobotCoreException, InterruptedException {
    HardwareFactory.noteSerialNumberType(context, serialNumber, context.getString(R.string.moduleDisplayNameServoController));
    RobotLog.v("Creating %s", HardwareFactory.getDeviceDisplayName(context, serialNumber));
    ModernRoboticsUsbDevice.OpenRobotUsbDevice openRobotUsbDevice = new ModernRoboticsUsbDevice.OpenRobotUsbDevice() {

        @Override
        public RobotUsbDevice open() throws RobotCoreException, InterruptedException {
            RobotUsbDevice dev = null;
            try {
                dev = ModernRoboticsUsbUtil.openUsbDevice(true, usbManager, serialNumber);
                byte[] deviceHeader = getModernRoboticsDeviceHeader(dev);
                DeviceType type = getModernRoboticsDeviceType(dev, deviceHeader);
                if (type != DeviceType.MODERN_ROBOTICS_USB_SERVO_CONTROLLER) {
                    closeAndThrowOnFailedDeviceTypeCheck(dev, serialNumber);
                }
                dev.setFirmwareVersion(getModernRoboticsFirmwareVersion(deviceHeader));
            } catch (RobotCoreException e) {
                if (dev != null) {
                    // avoid leakage of open FT_Devices
                    dev.close();
                }
                throw e;
            } catch (RuntimeException e) {
                if (dev != null) {
                    // avoid leakage of open FT_Devices
                    dev.close();
                }
                throw e;
            }
            return dev;
        }
    };
    ModernRoboticsUsbServoController controller = new ModernRoboticsUsbServoController(context, serialNumber, openRobotUsbDevice, manager);
    controller.armOrPretend();
    controller.initializeHardware();
    return controller;
}