com.qualcomm.robotcore.hardware

Class PWMOutput

java.lang.Object

com.qualcomm.robotcore.hardware.PWMOutput

All Implemented Interfaces:

HardwareDevice

public class PWMOutput
extends java.lang.Object
implements HardwareDevice

Control a single digital port

Constructor Summary

Constructors

Constructor and Description
PWMOutput(PWMOutputController controller, int port) Constructor

Method Summary

Methods

Modifier and Type	Method and Description
void	close() Close this device
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
java.lang.String	getDeviceName() Device Name
int	getPulseWidthOutputTime() Get the pulse width output time for this port
int	getPulseWidthPeriod() Get the pulse width output
int	getVersion() Version
void	setPulseWidthOutputTime(int time) Set the pulse width output time for this port.
void	setPulseWidthPeriod(int period) Set the pulse width output period.

Methods inherited from class java.lang.Object

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

Constructor Detail

PWMOutput

public PWMOutput(PWMOutputController controller,
         int port)

Constructor

Parameters:

controller - Digital port controller this port is attached to

port - port on the digital port controller

Method Detail

setPulseWidthOutputTime

public void setPulseWidthOutputTime(int time)

Set the pulse width output time for this port. Typically set to a value between 750 and 2,250 to control a servo.

Parameters:

time - pulse width for the port in microseconds.

getPulseWidthOutputTime

public int getPulseWidthOutputTime()

Get the pulse width output time for this port

setPulseWidthPeriod

public void setPulseWidthPeriod(int period)

Set the pulse width output period. Typically set to 20,000 to control servo.

Parameters:

period - pulse repetition period in microseconds.

getPulseWidthPeriod

public int getPulseWidthPeriod()

Get the pulse width output

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Device Name

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

close

public void close()

Description copied from interface: HardwareDevice

Close this device

Specified by:

close in interface HardwareDevice