com.qualcomm.robotcore.hardware

Interface PWMOutputController

All Superinterfaces:

HardwareDevice

All Known Subinterfaces:

DeviceInterfaceModule

public interface PWMOutputController
extends HardwareDevice

Interface for working with PWM Input Controllers

Different analog input controllers will implement this interface.

Method Summary

Methods

Modifier and Type	Method and Description
int	getPulseWidthOutputTime(int port) Gets the pulse width for the channel output in units of 1 microsecond.
int	getPulseWidthPeriod(int port) Gets the pulse repetition period for the channel output in units of 1 microsecond.
SerialNumber	getSerialNumber() Serial Number
void	setPulseWidthOutputTime(int port, int time) Set the pulse width output time for this channel.
void	setPulseWidthPeriod(int port, int period) Set the pulse width output period.

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getDeviceName, getVersion

Method Detail

getSerialNumber

SerialNumber getSerialNumber()

Serial Number

Returns:

return the USB serial number of this device

setPulseWidthOutputTime

void setPulseWidthOutputTime(int port,
                           int time)

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

Parameters:

port - port this device is attached to

time - pulse width for the port in microseconds.

setPulseWidthPeriod

void setPulseWidthPeriod(int port,
                       int period)

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

Parameters:

port - port this device is attached to

period - pulse repetition period in microseconds.

getPulseWidthOutputTime

int getPulseWidthOutputTime(int port)

Gets the pulse width for the channel output in units of 1 microsecond.

Parameters:

port - port this device is attached to

Returns:

time pulse width for the channel in microseconds.

getPulseWidthPeriod

int getPulseWidthPeriod(int port)

Gets the pulse repetition period for the channel output in units of 1 microsecond.

Parameters:

port - port this device is attached to

Returns:

period pulse repetition period in microseconds.