Package ftclib.robotcore

Class FtcI2cDevice

java.lang.Object

trclib.robotcore.TrcSerialBusDevice

ftclib.robotcore.FtcI2cDevice

Direct Known Subclasses:

FtcI2cAdaFruitColorSensor, FtcMRI2cDevice, FtcZXDistanceSensor

public class FtcI2cDevice
extends TrcSerialBusDevice

This class implements a platform dependent I2C device.

Nested Class Summary

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

TrcSerialBusDevice.Request

Field Summary

Fields

Modifier and Type	Field	Description
FtcI2cDeviceSynch	deviceSynch

Fields inherited from class trclib.robotcore.TrcSerialBusDevice

instanceName, tracer

Constructor Summary

Constructors

Constructor	Description
FtcI2cDevice(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, String instanceName, int i2cAddress)	Constructor: Creates an instance of the object.
FtcI2cDevice(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, String instanceName, int i2cAddress, boolean addressIs7Bit)	Constructor: Creates an instance of the object.
FtcI2cDevice(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, String instanceName, int i2cAddress, boolean addressIs7Bit, boolean useRequestQueue)	Constructor: Creates an instance of the object.
FtcI2cDevice(String instanceName, int i2cAddress)	Constructor: Creates an instance of the object.
FtcI2cDevice(String instanceName, int i2cAddress, boolean addressIs7Bit)	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 synchronously with the specified length.
int	writeData(int address, byte[] buffer, int length)	This method is called to write data to the device synchronously 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

Field Details

deviceSynch

public FtcI2cDeviceSynch deviceSynch

Constructor Details

FtcI2cDevice

public FtcI2cDevice(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
 String instanceName,
 int i2cAddress,
 boolean addressIs7Bit,
 boolean useRequestQueue)

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.

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

FtcI2cDevice

public FtcI2cDevice(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.

FtcI2cDevice

public FtcI2cDevice(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
 String instanceName,
 int i2cAddress)

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.

FtcI2cDevice

public FtcI2cDevice(String instanceName,
 int i2cAddress,
 boolean addressIs7Bit)

Constructor: Creates an instance of the object.

Parameters:

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.

FtcI2cDevice

public FtcI2cDevice(String instanceName,
 int i2cAddress)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

i2cAddress - specifies the I2C address of the device.

Method Details

readData

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

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

Specified by:

readData in class TrcSerialBusDevice

Parameters:

address - specifies the data address if any, can be -1 if no address is required.

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 synchronously with the specified data buffer and length.

Specified by:

writeData in class TrcSerialBusDevice

Parameters:

address - specifies the data address if any, can be -1 if no address is required.

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.