RoboClawMotor(final RoboClaw aThis, final int aMotorId) {
mMotorController = aThis;
mMotorId = aMotorId;
mAbsoluteEncoder = false;
mSupportRCEncoders = false;
mBufferLength = 0;
mSpeedServo = new SpeedServo(this);
// mMotorController.handleCommand(
// new CommandSetPIDQPPSConstants(
// mMotorId,
// 0x00010000,
// 0x00008000,
// 0x00004000,
// 44000)
// );
//
mMotorController.handleCommand(new CommandReadPIDQPPS(this));
LOGGER.log(
Level.SEVERE,
"Motor id : p = "
+ mPConstant
+ " i = "
+ mIConstant
+ " d = "
+ mDConstant
+ " qpps "
+ mQPPSConstant);
}
/**
* This method calls the RoboClaw to obtain the quadrature encoder position and returns the number
* of encoder pulses.
*
* @return The count of pulses since the last reset of the quadrature encoder for this motor.
*/
public long getEncoderPosition() {
long[] encoderPosition = new long[2];
mMotorController.handleCommand(new CommandReadEncoderPosition(mMotorId, encoderPosition));
return encoderPosition[0];
}
public double getVoltage() {
return mMotorController.getMainBatteryVoltage();
}
/**
* This method returns the actual speed of the motor in terms of 'pulses-per-second'.
*
* @return The number of pulses per second.
*/
public long getEncoderSpeed() {
long[] encoderSpeed = new long[1];
mMotorController.handleCommand(new CommandReadEncoderSpeed(mMotorId, encoderSpeed));
return encoderSpeed[0];
}
public void setDutyCycle(final double aDutyCycle) {
mDutyCycle = aDutyCycle;
mMotorController.handleCommand(new CommandDriveMotorWithDutyCycle(mMotorId, mDutyCycle));
}
