Package xbot.common.controls.actuators

Class XPWM

java.lang.Object

xbot.common.controls.actuators.XPWM

All Implemented Interfaces:

XBaseIO

Direct Known Subclasses:

MockPWM, PWMWPIAdapter

public abstract class XPWM
extends Object
implements XBaseIO

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	XPWM.XPWMFactory

Field Summary

Fields

Modifier and Type	Field	Description
protected int	channel

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	XPWM(int channel, DevicePolice police)

Method Summary

Modifier and Type	Method	Description
int	getChannel()
abstract int	getRaw()
abstract double	getSigned()
abstract double	getUnsigned()
abstract void	setRaw(int value)	Sets the PWM duty cycle
abstract void	setSigned(double value)	Sets the PWM duty cycle
abstract void	setUnsigned(double value)	Sets the PWM duty cycle

Methods inherited from class java.lang.Object

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

Field Details

channel

protected int channel

Constructor Details

XPWM

protected XPWM(int channel,
 DevicePolice police)

Method Details

getChannel

public int getChannel()

Specified by:

getChannel in interface XBaseIO

setRaw

public abstract void setRaw(int value)

Sets the PWM duty cycle

Parameters:

value - the value to set, in the range [0, 255]

getRaw

public abstract int getRaw()

setSigned

public abstract void setSigned(double value)

Sets the PWM duty cycle

Parameters:

value - the value to set, in the range [-1, 1]

getSigned

public abstract double getSigned()

setUnsigned

public abstract void setUnsigned(double value)

Sets the PWM duty cycle

Parameters:

value - the value to set, in the range [0, 1]

getUnsigned

public abstract double getUnsigned()