Package com.revrobotics.servohub

Class ServoHubLowLevel

java.lang.Object
com.revrobotics.NativeResourceCleaner
com.revrobotics.servohub.ServoHubLowLevel
All Implemented Interfaces:
REVDevice, AutoCloseable
Direct Known Subclasses:
ServoHub
public abstract class ServoHubLowLevel extends NativeResourceCleaner implements REVDevice, AutoCloseable

  • Field Details

    • servoHubHandle

      protected final long servoHubHandle

  • Constructor Details

    • ServoHubLowLevel

      public ServoHubLowLevel(int deviceId)
      Create a new object to control a ServoHub Servo Controller
      Parameters:
      deviceId - The device ID.

  • Method Details

    • close

      public void close()
      Closes the ServoHub Controller
      Specified by:
      close in interface AutoCloseable

    • getCleanAction

      protected NativeResourceCleaner.OnClean getCleanAction()
      Description copied from class: NativeResourceCleaner
      Note: it is important that no reference to 'this' is taken in the implementation.
      Specified by:
      getCleanAction in class NativeResourceCleaner
      Returns:
      an action to run on clean

    • getDeviceId

      public int getDeviceId()
      Get the configured Device ID of the ServoHub.
      Returns:
      int device ID

    • getFirmwareVersion

      public ServoHubLowLevel.FirmwareVersion getFirmwareVersion()
      Get the firmware version of the ServoHub.
      Returns:
      FirmwareVersion tbd

    • getFirmwareVersionString

      public String getFirmwareVersionString()
      Get the firmware version of the ServoHub as a string.
      Returns:
      String Human readable firmware version string

    • setPeriodicFrameTimeout

      public void setPeriodicFrameTimeout(int timeout_ms)
      Set the amount of time to wait for a periodic status frame before returning a timeout error. This timeout will apply to all periodic status frames for the ServoHub servo controller.

      To prevent invalid timeout errors, the minimum timeout for a given periodic status is 2.1 times its period. To use the minimum timeout for all status frames, set timeout_ms to 0.

      The default timeout is 500ms.

      Parameters:
      timeout_ms - The timeout in milliseconds

    • setCANTimeout

      public REVLibError setCANTimeout(int timeout_ms)
      Sets the timeout duration for waiting for CAN responses from the device.
      Parameters:
      timeout_ms - The timeout in milliseconds.
      Returns:
      REVLibError.kOk if successful

    • setCANMaxRetries

      public void setCANMaxRetries(int numRetries)
      Set the maximum number of times to retry an RTR CAN frame. This applies to calls such as GetFirmwareVersion where a request is made to the ServoHub and a response is expected. Anytime sending the request or receiving the response fails, it will retry the request a number of times, no more than the value set by this method. If an attempt succeeds, it will immediately return. The minimum number of retries is 0, where only a single attempt will be made and will return regardless of success or failure.

      The default maximum is 5 retries.

      Parameters:
      numRetries - The maximum number of retries

    • setControlFramePeriodMs

      public void setControlFramePeriodMs(int periodMs)
      Set the control frame send period for the native CAN Send thread.
      Parameters:
      periodMs - The send period in milliseconds between 1ms and 100ms or set to 0 to disable periodic sends.

    • getControlFramePeriodMs

      public int getControlFramePeriodMs()
      Set the control frame send period for the native CAN Send thread.
      Returns:
      int The send period in milliseconds.

    • getPeriodicStatus0

      public @Nullable ServoHubLowLevel.PeriodicStatus0 getPeriodicStatus0()

    • getPeriodicStatus1

      public @Nullable ServoHubLowLevel.PeriodicStatus1 getPeriodicStatus1()

    • getPeriodicStatus2

      public @Nullable ServoHubLowLevel.PeriodicStatus2 getPeriodicStatus2()

    • getPeriodicStatus3

      public @Nullable ServoHubLowLevel.PeriodicStatus3 getPeriodicStatus3()

    • getPeriodicStatus4

      public @Nullable ServoHubLowLevel.PeriodicStatus4 getPeriodicStatus4()

    • createSimFaultManager

      public void createSimFaultManager()
      Create the sim gui Fault Manager for this Servo Hub

    • throwIfClosed

      protected void throwIfClosed()