io.github.thunderbots.lightning

Class Lightning

java.lang.Object

io.github.thunderbots.lightning.Lightning

public final class Lightning
extends java.lang.Object

The Lightning class exposes methods for general interfacing with the hardware on the physical robot. The static methods in the class can be used for things such as accessing the joysticks, and getting hardware objects.

Author:

Zach Ohara, Pranav Mathur

Field Summary

Fields

Modifier and Type	Field and Description
private static JoystickMonitor	monitor1 The joystick monitor for joystick 1.
private static JoystickMonitor	monitor2 The joystick monitor for joystick 1.
private static LightningOpMode	opmode The op mode to get hardware and objects from.
private static com.qualcomm.robotcore.hardware.HardwareMap	robotHardware The HardwareMap that is used as a portal to all hardware on the robot.
private static java.util.List<com.qualcomm.robotcore.hardware.HardwareMap.DeviceMapping<?>>	sensorMaps A list of all the DeviceMappings exposed by the hardware map that could point to sensors.
private static TaskScheduler	taskScheduler The master task scheduler that is used to execute all background tasks in the SDK and in client code of the SDK.

Constructor Summary

Constructors

Modifier	Constructor and Description
private	Lightning() Lightning should not be instantiable.

Method Summary

Modifier and Type	Method and Description
static Joystick	getJoystick(int joystick) Gets a reference to the given joystick.
static JoystickMonitor	getJoystickMonitor(int joystick) Gets a reference to the joystick monitor for the given joystick.
static Motor	getMotor(java.lang.String name) Gets a reference to the motor with the given name.
static <T> T	getSensor(java.lang.String name) Gets a reference to any sensor on the robot with the given name.
private static java.util.List<com.qualcomm.robotcore.hardware.HardwareMap.DeviceMapping<?>>	getSensorMaps(com.qualcomm.robotcore.hardware.HardwareMap map) Returns a list of DeviceMappings in the given HardwareMap that could contain sensors.
static Servo	getServo(java.lang.String name) Gets a reference to the servo with the given name.
static TaskScheduler	getTaskScheduler() Gets a reference to the main task scheduler.
static void	initializeLightning(LightningOpMode opmode) Initializes the static members in Lightning from the given LightningOpMode.

Methods inherited from class java.lang.Object

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

Field Detail

opmode

private static LightningOpMode opmode

The op mode to get hardware and objects from. All information that is accessible through Lightning is provided by this op mode.

robotHardware

private static com.qualcomm.robotcore.hardware.HardwareMap robotHardware

The HardwareMap that is used as a portal to all hardware on the robot.

See Also:

HardwareMap

sensorMaps

private static java.util.List<com.qualcomm.robotcore.hardware.HardwareMap.DeviceMapping<?>> sensorMaps

A list of all the DeviceMappings exposed by the hardware map that could point to sensors.

See Also:

robotHardware

taskScheduler

private static TaskScheduler taskScheduler

The master task scheduler that is used to execute all background tasks in the SDK and in client code of the SDK.

monitor1

private static JoystickMonitor monitor1

The joystick monitor for joystick 1.

See Also:

JoystickMonitor

monitor2

private static JoystickMonitor monitor2

The joystick monitor for joystick 1.

See Also:

JoystickMonitor

Constructor Detail

Lightning

private Lightning()

Lightning should not be instantiable.

Method Detail

initializeLightning

public static void initializeLightning(LightningOpMode opmode)

Initializes the static members in Lightning from the given LightningOpMode.

Parameters:

opmode - the op mode to get information from.

See Also:

opmode

getTaskScheduler

public static TaskScheduler getTaskScheduler()

Gets a reference to the main task scheduler.

Returns:

a reference to the main task scheduler.

See Also:

taskScheduler

getJoystick

public static Joystick getJoystick(int joystick)

Gets a reference to the given joystick. Currently, only joystick1 and joystick2 are supported.

Parameters:

joystick - the ID of the joystick to return; can only be 1 or 2.

Returns:

the specified joystick.

Throws:

java.lang.IllegalArgumentException - if the given joystick ID is not 1 or 2.

getJoystickMonitor

public static JoystickMonitor getJoystickMonitor(int joystick)

Gets a reference to the joystick monitor for the given joystick. Currently, only joystick1 and joystick2 are supported.

Parameters:

joystick - the ID of the joystick to get the monitor for; can only be 1 or 2.

Returns:

the joystick monitor for the given joystick.

See Also:

monitor1, monitor2

getMotor

public static Motor getMotor(java.lang.String name)

Gets a reference to the motor with the given name. If there is no motor with the given name, but there is a servo with the given name, the servo is assumed to be a continuous-rotation servo, and a CRServo object representing that servo is returned.

Parameters:

name - the name of the motor.

Returns:

the motor with the given name.

See Also:

CRServo

getServo

public static Servo getServo(java.lang.String name)

Gets a reference to the servo with the given name.

Parameters:

name - the name of the servo.

Returns:

the servo with the given name.

getSensor

public static <T> T getSensor(java.lang.String name)

Gets a reference to any sensor on the robot with the given name.

Parameters:

name - the name of the sensor.

Returns:

the sensor with the given name.

Throws:

java.lang.IllegalArgumentException - if no sensors exist with the given name.

getSensorMaps

private static java.util.List<com.qualcomm.robotcore.hardware.HardwareMap.DeviceMapping<?>> getSensorMaps(com.qualcomm.robotcore.hardware.HardwareMap map)

Returns a list of DeviceMappings in the given HardwareMap that could contain sensors.

This method essentially works by enumerating the known device mappings that could contain sensors. If more device mappings are added to FTC's built-in SDK, this method will need to be updated before any new sensors can be accessed through Lightning.

Parameters:

map - the hardware map to search for sensor maps in.

Returns:

a list of the device maps containing sensors.