com.ridgesoft.robotics.effectors
Class DevantechMD22

java.lang.Object
  com.ridgesoft.robotics.effectors.DevantechMD22

public class DevantechMD22
extends Object

Class to interface with a Devantech MD22 dual motor driver attached to an I2C port.

Constructor Summary

DevantechMD22(I2CMaster i2cMaster, int deviceAddress)
Constructs a DevantechMD22 object.

Method Summary

Motor	getMotor1() Gets the Motor object for motor 1.
Motor	getMotor2() Gets the Motor object for motor 2.
int	getSoftwareRevision() Gets the software revsion of the device's software.
void	setAcceleration(int value) Sets the motor controller's acceleration value (see MD22 documentation).

Methods inherited from class java.lang.Object

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

Constructor Detail

DevantechMD22

public DevantechMD22(I2CMaster i2cMaster,
                     int deviceAddress)
              throws IOException

Constructs a DevantechMD22 object.

Parameters:

i2cMaster - I2C object for the bus the compass connects to

deviceAddress - I2C device address of the MD22

Throws:

IOException

Method Detail

getMotor1

public Motor getMotor1()

Gets the Motor object for motor 1.

Returns:

Motor object for motor 1.

getMotor2

public Motor getMotor2()

Gets the Motor object for motor 2.

Returns:

Motor object for motor 2.

getSoftwareRevision

public int getSoftwareRevision()
                        throws IOException

Gets the software revsion of the device's software.

Returns:

software revision number

Throws:

IOException

setAcceleration

public void setAcceleration(int value)
                     throws IOException

Sets the motor controller's acceleration value (see MD22 documentation).

Parameters:

value - acceleration (0 - 255, default 0)

Throws:

IOException