private void a() {
Iterator var1 = this.hardwareMap.servoController.iterator();
while (var1.hasNext()) {
ServoController var2 = (ServoController) var1.next();
var2.pwmDisable();
}
var1 = this.hardwareMap.dcMotorController.iterator();
while (var1.hasNext()) {
DcMotorController var3 = (DcMotorController) var1.next();
var3.setMotorControllerDeviceMode(DeviceMode.WRITE_ONLY);
}
var1 = this.hardwareMap.dcMotor.iterator();
while (var1.hasNext()) {
DcMotor var4 = (DcMotor) var1.next();
var4.setPower(0.0D);
var4.setChannelMode(RunMode.RUN_WITHOUT_ENCODERS);
}
var1 = this.hardwareMap.lightSensor.iterator();
while (var1.hasNext()) {
LightSensor var5 = (LightSensor) var1.next();
var5.enableLed(false);
}
}
public void shutdownServoControllers() {
for (Entry entry : this.f17h.servoController.entrySet()) {
String str = (String) entry.getKey();
ServoController servoController = (ServoController) entry.getValue();
DbgLog.msg("Stopping Servo Controller " + str);
servoController.close();
}
}
/* Initialize standard Hardware interfaces */
public void init(HardwareMap ahwMap) {
// Initialize base Motor and Servo objects
super.init(ahwMap);
/*
* Matrix controllers are special.
*
* A Matrix controller is one controller with both motors and servos
* but software wants to treat it as two distinct controllers, one
* DcMotorController, and one ServoController.
*
* We accomplish this by initializing Motor and Servo controller with the same name
* given in the configuration. In the example below the name of the controller is
* "MatrixController"
*
* Normally we don't need to access the controllers themselves, we deal directly with
* the Motor and Servo objects, but the Matrix interface is different.
*
* In order to activate the servos, they need to be enabled on the controller with
* a call to pwmEnable() and disabled with a call to pwmDisable()
*
* Also, the Matrix Motor controller interface provides a call that enables all motors to
* updated simultaneously (with the same value).
*/
// Initialize Matrix Motor and Servo objects
matrixMotorController =
(MatrixDcMotorController) ahwMap.dcMotorController.get("matrix controller");
matrixServoController = ahwMap.servoController.get("matrix controller");
// Enable Servos
matrixServoController.pwmEnable(); // Don't forget to enable Matrix Output
}
public void init() {
motorRight = hardwareMap.dcMotor.get("motor_2");
motorLeft = hardwareMap.dcMotor.get("motor_1");
motorLeft.setDirection(DcMotor.Direction.REVERSE);
gyro = hardwareMap.gyroSensor.get("gyro");
gyro.calibrate();
while (gyro.isCalibrating()) {
try {
wait(20);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
drive = new ArcadeDrive(motorRight, motorLeft, gyro);
components.add(drive);
servoController = hardwareMap.servoController.get("Servo Controller 1");
servoController.pwmEnable();
servo = new NormalServo(servoController, 1);
components.add(servo);
}
@Override
public void init() {
motor1 = hardwareMap.dcMotor.get("motor_1");
motor2 = hardwareMap.dcMotor.get("motor_2");
motor3 = hardwareMap.dcMotor.get("motor_3");
motor4 = hardwareMap.dcMotor.get("motor_4");
/*
* A set of motors to use with the Matrix motor controller's
* pending feature. See example below. Note that this is
* completely optional.
*/
motorSet.add(motor1);
motorSet.add(motor2);
motorSet.add(motor3);
motorSet.add(motor4);
servo1 = hardwareMap.servo.get("servo_1");
servo2 = hardwareMap.servo.get("servo_2");
servo3 = hardwareMap.servo.get("servo_3");
servo4 = hardwareMap.servo.get("servo_4");
/*
* Matrix controllers are special.
*
* A Matrix controller is one controller with both motors and servos
* but software wants to treat it as two distinct controllers, one
* DcMotorController, and one ServoController.
*
* We accomplish this by appending Motor and Servo to the name
* given in the configuration. In the example below the name
* of the controller is "MatrixController" so the motor controller
* instance is "MatrixControllerMotor" and the servo controller
* instance is "MatrixControllerServo".
*/
mc = (MatrixDcMotorController) hardwareMap.dcMotorController.get("MatrixController");
motor1.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
motor2.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
motor3.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
motor4.setMode(DcMotorController.RunMode.RUN_USING_ENCODERS);
/*
* Servos are not enabled by default. Software must call pwmEnable()
* for servos to function.
*/
sc = hardwareMap.servoController.get("MatrixController");
sc.pwmEnable();
}
@Override
public void stop() {
/*
* An example of setting power for individual motors as normal.
*
* For the Matrix controller, the methods take effect immediately
* as each call to setPower(), or any other method that interacts
* with the controller, is transformed into an i2c transaction and
* queued. A separate thread is processing the queue.
*
* In practice this means that the first call to setPower will
* be applied 20 to 40 milliseconds before the last call as the
* processing thread works through the queue. Testing
* has shown that this latency is not large enough to have any
* real world negative impacts, however teams may choose to use
* the controller's setMotorPower() method if they desire precise
* simultaneous motor operations. See example in handleMotors().
*/
motor1.setPower(0.0);
motor2.setPower(0.0);
motor3.setPower(0.0);
motor4.setPower(0.0);
sc.pwmDisable();
}
