Package trclib.sensor

Class TrcMotorLimitSwitch

java.lang.Object

trclib.sensor.TrcDigitalInput

trclib.sensor.TrcMotorLimitSwitch

public class TrcMotorLimitSwitch
extends TrcDigitalInput

This class implements a platform independent digital input sensor extending TrcDigitalInput. It provides implementation of the abstract methods in TrcDigitalInput. The digital input sensor in this case is one of the motor limit switches. This allows the motor limit switch to be used as a Digital Trigger for operations such as auto zero calibration and limit switch notification callback.

Field Summary

Fields

Modifier and Type	Field	Description
private final TrcMotor	motor
private boolean	upperLimitSwitch

Fields inherited from class trclib.sensor.TrcDigitalInput

getInputElapsedTimer, instanceName

Constructor Summary

Constructors

Constructor	Description
TrcMotorLimitSwitch(String instanceName, TrcMotor motor, boolean upperLimitSwitch)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
boolean	getInputState()	This method returns the state of the digital input sensor.
void	setInverted(boolean inverted)	This method inverts the polarity of the limit switch by configuring it to be normally open (non-inverted) or normally close (inverted).

Methods inherited from class trclib.sensor.TrcDigitalInput

isActive, printElapsedTime, setElapsedTimerEnabled, toString

Methods inherited from class java.lang.Object

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

Field Details

motor

private final TrcMotor motor

upperLimitSwitch

private boolean upperLimitSwitch

Constructor Details

TrcMotorLimitSwitch

public TrcMotorLimitSwitch(String instanceName,
 TrcMotor motor,
 boolean upperLimitSwitch)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

motor - specifies the motor controller that hosted the limit switch.

upperLimitSwitch - specifies true for the upper limit switch, false for lower limit switch.

Method Details

getInputState

public boolean getInputState()

This method returns the state of the digital input sensor.

Specified by:

getInputState in class TrcDigitalInput

Returns:

true if the digital input sensor is active, false otherwise.

setInverted

public void setInverted(boolean inverted)

This method inverts the polarity of the limit switch by configuring it to be normally open (non-inverted) or normally close (inverted).

Overrides:

setInverted in class TrcDigitalInput

Parameters:

inverted - specifies true to invert and false otherwise.