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

Example 1 with LegacyModule

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

the class HardwareFactory method mapUsbLegacyModule.

private void mapUsbLegacyModule(HardwareMap map, DeviceManager deviceMgr, LegacyModuleControllerConfiguration ctrlConf) throws RobotCoreException, InterruptedException {
    if (!ctrlConf.isEnabled()) {
        return;
    }
    LegacyModule legacyModule = deviceMgr.createUsbLegacyModule(ctrlConf.getSerialNumber(), ctrlConf.getName());
    map.legacyModule.put(ctrlConf.getName(), legacyModule);
    for (DeviceConfiguration devConf : ctrlConf.getDevices()) {
        ConfigurationType devType = devConf.getConfigurationType();
        if (devType == BuiltInConfigurationType.GYRO) {
            mapNxtGyroSensor(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.COMPASS) {
            mapNxtCompassSensor(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.IR_SEEKER) {
            mapNxtIrSeekerSensor(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.LIGHT_SENSOR) {
            mapNxtLightSensor(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.ACCELEROMETER) {
            mapNxtAccelerationSensor(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.MOTOR_CONTROLLER) {
            mapNxtDcMotorController(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.SERVO_CONTROLLER) {
            mapNxtServoController(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.TOUCH_SENSOR) {
            mapNxtTouchSensor(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.TOUCH_SENSOR_MULTIPLEXER) {
            mapNxtTouchSensorMultiplexer(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.ULTRASONIC_SENSOR) {
            mapSonarSensor(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.COLOR_SENSOR) {
            mapNxtColorSensor(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.MATRIX_CONTROLLER) {
            mapMatrixController(map, deviceMgr, legacyModule, devConf);
        } else if (devType == BuiltInConfigurationType.NOTHING) {
        // nothing to do
        } else {
            RobotLog.w("Unexpected device type connected to Legacy Module while parsing XML: " + devType.toString());
        }
    }
}