com.dexterind.gopigo.components
Class Encoders

java.lang.Object
  com.dexterind.gopigo.components.Encoders

public class Encoders
extends java.lang.Object

Implements the methods needed to set, read, enable or disable the encoders.

Author:

marcello

Field Summary

private static Board	board The main object which handles the methods to get access to the resources connected to the board.
private Debug	debug The debug object.
private static Encoders	instance The instance of the current object.

Constructor Summary

Encoders()

Method Summary

int	disable() Disables the encoders.
int	enable() Enables the encoders.
static Encoders	getInstance() Provides a global point of access to the Encoders instance.
int	read(int motor) Reads the encoding value for the motor.
int	readStatus() Reads the encoders status.
int	targeting(int m1, int m2, int target) Sets the targeting for both the motors.

Methods inherited from class java.lang.Object

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

Field Detail

board

private static Board board

The main object which handles the methods to get access to the resources connected to the board.

instance

private static Encoders instance

The instance of the current object.

debug

private Debug debug

The debug object.

Constructor Detail

Encoders

public Encoders()
         throws java.io.IOException,
                java.lang.InterruptedException

Throws:

java.io.IOException

java.lang.InterruptedException

Method Detail

getInstance

public static Encoders getInstance()
                            throws java.io.IOException,
                                   java.lang.InterruptedException

Provides a global point of access to the Encoders instance.

Returns:

the Encoders instance.

Throws:

java.io.IOException

java.lang.InterruptedException

targeting

public int targeting(int m1,
                     int m2,
                     int target)
              throws java.io.IOException

Sets the targeting for both the motors.

Parameters:

m1 - The value for the motor 1.

m2 - The value for the motor 2.

target - TODO: Find a nice description for the target

Returns:

A status code.

Throws:

java.io.IOException

read

public int read(int motor)
         throws java.io.IOException

Reads the encoding value for the motor.

Parameters:

motor - The motor id to read.

Returns:

The value for the motor or a "error" status code in case of failure.

Throws:

java.io.IOException

readStatus

public int readStatus()
               throws java.io.IOException

Reads the encoders status.

Returns:

The encoders status

Throws:

java.io.IOException

enable

public int enable()
           throws java.io.IOException

Enables the encoders.

Returns:

A status code.

Throws:

java.io.IOException

disable

public int disable()
            throws java.io.IOException

Disables the encoders.

Returns:

A status code.

Throws:

java.io.IOException