BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.hardware/SimpleRotator

SimpleRotator

open class SimpleRotator : DcMotorSimple

Drop-in replacement for DcMotorSimple (and by extension, DcMotor and CRServo) to support write caching, refresh rates, and internal power clamps/scales.

This class is internally implemented by Motor. This class is exposed for CRServo uses and other motor implementations that do not need the full suite of Motor utilities.

Author

Lucas Bubner, 2024

Since

6.0.0

Inheritors

Constructors

constructor(@NonNull dms: DcMotorSimple)

Wrap a DcMotorSimple to use in the SimpleCachedRotator class.

Functions

open fun close()

getConnectionInfo

open fun getConnectionInfo(): String

open fun getDeviceName(): String

open fun getDirection(): DcMotorSimple.Direction

getManufacturer

open fun getManufacturer(): HardwareDevice.Manufacturer

open fun getPower(): Double

open fun getVersion(): Int

resetDeviceConfigurationForOpMode

open fun resetDeviceConfigurationForOpMode()

open fun setDirection(@NonNull direction: DcMotorSimple.Direction)

open fun setMaxPower(magnitude: Double)

Sets the maximum power magnitude (applies for both negative and positive powers) this motor can run at.

open fun setPower(power: Double)

setPowerDeltaThreshold

open fun setPowerDeltaThreshold(magnitude: Double)

Set the delta in power required to propagate a hardware write.

setPowerRefreshRate

open fun setPowerRefreshRate(@NonNull refreshRate: Measure<Time>)

Set the refresh rate of the motor that will be a minimum time between hardware writes.