DCMotorOutputChannel.java

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/*******************************************************************************
 * Copyright 2010 Neuron Robotics, LLC
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *   http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/
package com.neuronrobotics.sdk.dyio.peripherals;
 
import com.neuronrobotics.sdk.dyio.DyIO;
import com.neuronrobotics.sdk.dyio.DyIOChannel;
import com.neuronrobotics.sdk.dyio.DyIOChannelMode;
import com.neuronrobotics.sdk.common.DeviceManager;
 
 
// TODO: Auto-generated Javadoc
public class DCMotorOutputChannel extends DyIOAbstractPeripheral {
    
    public DCMotorOutputChannel(int channel){
        this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel));   
    }
    
    public DCMotorOutputChannel(DyIO dyio,int channel){
        this(dyio.getChannel(channel)); 
    }
    
    
    public DCMotorOutputChannel(DyIOChannel channel) {
        super(channel,DyIOChannelMode.DC_MOTOR_VEL,false);
    
        if(!setMode()) {
            throw new DyIOPeripheralException("Could not set channel " + channel + " to DC motor output mode");
        }
    }
    
    public void SetVelocity(float velocity){
        
        if (velocity > 100) { 
            velocity = 100;
        }
        
        if (velocity<-100) {
            velocity=-100;  
        }
        
        setValue((int)((velocity / 100) * 128)+128);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync()
     */
    @Override
    public boolean hasAsync() {
        return false;
    }
}