Examples with RobotUsbUnspecifiedException org.firstinspires.ftc.robotcore.internal.usb.exception.RobotUsbUnspecifiedException used on opensource projects

Example 1 with RobotUsbUnspecifiedException

use of org.firstinspires.ftc.robotcore.internal.usb.exception.RobotUsbUnspecifiedException in project robotcode by OutoftheBoxFTC.

the class FtDevice method setBaudRate.

public void setBaudRate(int baudRate) throws RobotUsbException {
    if (!this.isOpen()) {
        throw new RobotUsbDeviceClosedException("setBaudRate");
    } else {
        byte rc = 1;
        int[] divisors = new int[2];
        switch(baudRate) {
            case 300:
                divisors[0] = 0x2710;
                break;
            case 600:
                divisors[0] = 0x1388;
                break;
            case 1200:
                divisors[0] = 0x09c4;
                break;
            case 2400:
                divisors[0] = 0x04e2;
                break;
            case 4800:
                divisors[0] = 0x0271;
                break;
            case 9600:
                divisors[0] = 0x4138;
                break;
            case 19200:
                divisors[0] = 0x809c;
                break;
            case 38400:
                divisors[0] = 0xc04e;
                break;
            case 57600:
                divisors[0] = 0x0034;
                break;
            case 115200:
                divisors[0] = 0x001a;
                break;
            case 230400:
                divisors[0] = 0x000d;
                break;
            case 460800:
                divisors[0] = 0x4006;
                break;
            case 921600:
                divisors[0] = 0x8003;
                break;
            default:
                if (this.isHiSpeed() && baudRate >= 1200) {
                    rc = BaudRate.getDivisorHi(baudRate, divisors);
                } else {
                    rc = BaudRate.getDivisor(baudRate, divisors, this.isBitModeDevice());
                }
                break;
        }
        if (this.isMultiInterfaceDevice() || this.isFt232h() || this.isFt232ex()) {
            divisors[1] <<= 8;
            divisors[1] &= '\uff00';
            divisors[1] |= this.mInterfaceID;
        }
        if (rc == 1) {
            int status = this.getConnection().controlTransfer(UsbConstants.USB_TYPE_VENDOR | UsbConstants.USB_DIR_OUT, FTDI_SIO_SET_BAUDRATE, divisors[0], divisors[1], (byte[]) null, 0, 0);
            if (status != 0) {
                throw new RobotUsbUnspecifiedException("setBaudRate: status=%d", status);
            }
        } else {
            throw new RobotUsbUnspecifiedException("setBaudRate: rc=%d", rc);
        }
    }
}