Examples with DcMotorController com.qualcomm.robotcore.hardware.DcMotorController used on opensource projects

Example 1 with DcMotorController

use of com.qualcomm.robotcore.hardware.DcMotorController in project robotcode by OutoftheBoxFTC.

the class HardwareFactory method mapMatrixController.

private void mapMatrixController(HardwareMap map, DeviceManager deviceMgr, LegacyModule legacyModule, DeviceConfiguration devConf) {
    if (!devConf.isEnabled()) {
        return;
    }
    MatrixMasterController master = new MatrixMasterController((ModernRoboticsUsbLegacyModule) legacyModule, devConf.getPort());
    DcMotorController mc = new MatrixDcMotorController(master);
    map.dcMotorController.put(devConf.getName() + "Motor", mc);
    map.dcMotorController.put(devConf.getName(), mc);
    for (DeviceConfiguration motorConf : ((MatrixControllerConfiguration) devConf).getMotors()) {
        mapMotor(map, deviceMgr, (MotorConfiguration) motorConf, mc);
    }
    ServoController sc = new MatrixServoController(master);
    map.servoController.put(devConf.getName() + "Servo", sc);
    map.servoController.put(devConf.getName(), sc);
    for (DeviceConfiguration servoConf : ((MatrixControllerConfiguration) devConf).getServos()) {
        mapServo(map, deviceMgr, servoConf, sc);
    }
}