Package ftclib.archive

Class FtcMRI2cDevice

java.lang.Object

trclib.robotcore.TrcSerialBusDevice

ftclib.robotcore.FtcI2cDevice

ftclib.archive.FtcMRI2cDevice

Direct Known Subclasses:

FtcMRI2cColorSensor, FtcMRI2cGyro, FtcMRI2cRangeSensor

public class FtcMRI2cDevice
extends FtcI2cDevice

This class implements the common features of all Modern Robotics I2C devices. Typically, this class will be extended by specific Modern Robotics I2C devices.

Nested Class Summary

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

TrcSerialBusDevice.Request

Field Summary

Fields

Modifier and Type	Field	Description
private final int	firmwareRev
private static final int	HEADER_END
private static final int	HEADER_LENGTH
private static final int	HEADER_START
private static final byte	I2CADDR_TRIGGER_BYTE_1
private static final byte	I2CADDR_TRIGGER_BYTE_2
private final int	idCode
protected static final byte	MANUFACTURER_CODE
private final int	manufacturerCode
protected static final int	REG_COMMAND
protected static final int	REG_FIRMWARE_REVISION
protected static final int	REG_ID_CODE
protected static final int	REG_MANUFACTURER_CODE
protected static final int	REG_SET_I2C_ADDRESS

Fields inherited from class ftclib.robotcore.FtcI2cDevice

deviceSynch

Fields inherited from class trclib.robotcore.TrcSerialBusDevice

instanceName, tracer

Constructor Summary

Constructors

Constructor	Description
FtcMRI2cDevice(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, String instanceName, int i2cAddress, boolean addressIs7Bit)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	changeI2cAddress(int newAddress)	This method changes the I2C address of the Modern Robotics device.
void	changeI2cAddress(int newAddress, boolean addressIs7Bit)	This method changes the I2C address of the Modern Robotics device.
int	getFirmwareRevision()	This method returns the firmware revision.
int	getIdCode()	This method returns the ID code of the sensor.
int	getManufacturerCode()	This method returns the manufacturer code of the sensor.

Methods inherited from class ftclib.robotcore.FtcI2cDevice

readData, writeData

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

Field Details

REG_FIRMWARE_REVISION

protected static final int REG_FIRMWARE_REVISION

See Also:

• Constant Field Values

REG_MANUFACTURER_CODE

protected static final int REG_MANUFACTURER_CODE

See Also:

• Constant Field Values

REG_ID_CODE

protected static final int REG_ID_CODE

See Also:

• Constant Field Values

REG_COMMAND

protected static final int REG_COMMAND

See Also:

• Constant Field Values

REG_SET_I2C_ADDRESS

protected static final int REG_SET_I2C_ADDRESS

See Also:

• Constant Field Values

HEADER_START

private static final int HEADER_START

See Also:

• Constant Field Values

HEADER_END

private static final int HEADER_END

See Also:

• Constant Field Values

HEADER_LENGTH

private static final int HEADER_LENGTH

See Also:

• Constant Field Values

MANUFACTURER_CODE

protected static final byte MANUFACTURER_CODE

See Also:

• Constant Field Values

I2CADDR_TRIGGER_BYTE_1

private static final byte I2CADDR_TRIGGER_BYTE_1

See Also:

• Constant Field Values

I2CADDR_TRIGGER_BYTE_2

private static final byte I2CADDR_TRIGGER_BYTE_2

See Also:

• Constant Field Values

firmwareRev

private final int firmwareRev

manufacturerCode

private final int manufacturerCode

idCode

private final int idCode

Constructor Details

FtcMRI2cDevice

public FtcMRI2cDevice(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
 String instanceName,
 int i2cAddress,
 boolean addressIs7Bit)

Constructor: Creates an instance of the object.

Parameters:

hardwareMap - specifies the global hardware map.

instanceName - specifies the instance name.

i2cAddress - specifies the I2C address of the device.

addressIs7Bit - specifies true if the I2C address is a 7-bit address, false if it is 8-bit.

Method Details

changeI2cAddress

public void changeI2cAddress(int newAddress,
 boolean addressIs7Bit)

This method changes the I2C address of the Modern Robotics device.

Parameters:

newAddress - specifies the new I2C address.

addressIs7Bit - specifies true if the I2C address is a 7-bit address, false if it is 8-bit.

changeI2cAddress

public void changeI2cAddress(int newAddress)

This method changes the I2C address of the Modern Robotics device.

Parameters:

newAddress - specifies the new I2C address.

getFirmwareRevision

public int getFirmwareRevision()

This method returns the firmware revision.

Returns:

firmware revision number.

getManufacturerCode

public int getManufacturerCode()

This method returns the manufacturer code of the sensor.

Returns:

manufacturer code.

getIdCode

public int getIdCode()

This method returns the ID code of the sensor.

Returns:

ID code.