Package frclib.robotcore

Class FrcSpiDevice

java.lang.Object

trclib.robotcore.TrcSerialBusDevice

frclib.robotcore.FrcSpiDevice

public class FrcSpiDevice
extends TrcSerialBusDevice

This class implements a platform dependent SPI device. It extends TrcSerialBusDevice to provide asynchronous request queue support and creates the SPI device using WPILib.

Nested Class Summary

Nested classes/interfaces inherited from class trclib.robotcore.TrcSerialBusDevice

TrcSerialBusDevice.Request

Field Summary

Fields inherited from class trclib.robotcore.TrcSerialBusDevice

instanceName, tracer

Constructor Summary

Constructors

Constructor	Description
FrcSpiDevice(String instanceName, edu.wpi.first.wpilibj.SPI spi, boolean useRequestQueue)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
byte[]	readData(int address, int length)	This method is called to read data from the device with the specified length.
int	writeData(int address, byte[] buffer, int length)	This method is called to write data to the device with the specified data buffer and length.

Methods inherited from class trclib.robotcore.TrcSerialBusDevice

asyncRead, asyncRead, asyncRead, asyncRead, asyncRead, asyncWrite, asyncWrite, asyncWrite, isEnabled, preemptiveWrite, sendByteCommand, sendWordCommand, setEnabled, syncRead, syncRead, syncWrite, syncWrite, toString

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Details

FrcSpiDevice

public FrcSpiDevice(String instanceName,
 edu.wpi.first.wpilibj.SPI spi,
 boolean useRequestQueue)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

spi - specifies the SPI port the device is connected to.

useRequestQueue - specifies true to use a request queue, false otherwise.

Method Details

readData

public byte[] readData(int address,
 int length)

This method is called to read data from the device with the specified length.

Specified by:

readData in class TrcSerialBusDevice

Parameters:

address - specifies the data address if any (not applicable for SPI).

length - specifies the number of bytes to read.

Returns:

a byte array containing the data read.

writeData

public int writeData(int address,
 byte[] buffer,
 int length)

This method is called to write data to the device with the specified data buffer and length.

Specified by:

writeData in class TrcSerialBusDevice

Parameters:

address - specifies the data address if any (not applicable for SPI).

buffer - specifies the buffer containing the data to be written to the device.

length - specifies the number of bytes to write.

Returns:

number of bytes written.