io.github.robolib.module.iface

Class Relay

java.lang.Object

io.github.robolib.module.iface.Interface

io.github.robolib.module.iface.Relay

All Implemented Interfaces:

Module

public final class Relay
extends Interface
implements Module

Class for VEX Robotics Spike style relay outputs. Relays are intended to be connected to Spikes or similar relays. The relay channels controls a pair of pins that are either both off, one on, the other on, or both on. This translates into two Spike outputs at 0v, one at 12v and one at 0v, one at 0v and the other at 12v, or two Spike outputs at 12V. This allows off, full forward, or full reverse control of motors without variable speed. It also allows the two channels (forward and reverse) to be used independently for something that does not care about voltage polarity (like a solenoid).

Author:

noriah

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Relay.RelayChannel Enum representation of Relay channels on the RIO
static class	Relay.RelayDirection Set the direction the relay can go in
static class	Relay.RelayValue Set the state of the relay

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface

Interface.InterfaceType

Field Summary

Fields

Modifier and Type	Field and Description
private Relay.RelayChannel	m_channel The Relay Channel this Relay is operating on.
protected java.lang.String	m_description
private Relay.RelayDirection	m_direction The Direction this Relay is allowed to operate in
private boolean	m_disabled The disabled state.
private java.nio.ByteBuffer	m_port The The RoboRIO port identifier.
private static byte	RELAY_OFF
private static byte	RELAY_ON
private static boolean[]	USED_CHANNELS Keep track of already used channels.

Fields inherited from class io.github.robolib.module.iface.Interface

m_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS

Constructor Summary

Constructors

Constructor and Description
Relay(Relay.RelayChannel channel) Relay constructor given a channel, allowing both directions.
Relay(Relay.RelayChannel channel, Relay.RelayDirection dir) Relay constructor given a channel.
Relay(Relay.RelayChannel channel, Relay.RelayDirection dir, java.lang.String desc) Relay constructor given a channel.

Method Summary

Modifier and Type	Method and Description
void	disableModule() Disable the module
void	enableModule() Enable the module
void	free() Free the Relay channel.
Relay.RelayValue	get() Get the Relay State Gets the current state of the relay.
Relay.RelayChannel	getChannel() The channel this Relay is operating on.
java.lang.String	getChannelName() The channel this Relay is operating on, in string form.
int	getChannelNumber() The channel this Relay is operating on, in integer form.
boolean	getModuleEnabled()
void	set(boolean value)
void	set(Relay.RelayValue value) Set the relay state.
void	setDirection(Relay.RelayDirection dir) Set the Relay Direction Changes which values the relay can be set to depending on which direction is used Valid inputs are FORWARD, REVERSE, and BOTH

Methods inherited from class io.github.robolib.module.iface.Interface

allocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceType

Methods inherited from class java.lang.Object

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

Field Detail

RELAY_ON

private static final byte RELAY_ON

See Also:

Constant Field Values

RELAY_OFF

private static final byte RELAY_OFF

See Also:

Constant Field Values

m_description

protected final java.lang.String m_description

m_port

private final java.nio.ByteBuffer m_port

The The RoboRIO port identifier.

m_channel

private Relay.RelayChannel m_channel

The Relay Channel this Relay is operating on.

m_direction

private Relay.RelayDirection m_direction

The Direction this Relay is allowed to operate in

m_disabled

private boolean m_disabled

The disabled state.

USED_CHANNELS

private static final boolean[] USED_CHANNELS

Keep track of already used channels.

Constructor Detail

Relay

public Relay(Relay.RelayChannel channel)

Relay constructor given a channel, allowing both directions.

Parameters:

channel - The Relay.RelayChannel for this relay.

Relay

public Relay(Relay.RelayChannel channel,
             Relay.RelayDirection dir)

Relay constructor given a channel.

Parameters:

channel - The Relay.RelayChannel for this relay.

dir - The direction that the Relay object will control.

Relay

public Relay(Relay.RelayChannel channel,
             Relay.RelayDirection dir,
             java.lang.String desc)

Relay constructor given a channel.

Parameters:

channel - The Relay.RelayChannel for this relay.

dir - The direction that the Relay object will control.

desc - Description of this relay for debugging, dash-board, and power monitoring purposes

Method Detail

free

public void free()

Free the Relay channel.

set

public void set(boolean value)

Parameters:

value -

set

public void set(Relay.RelayValue value)

Set the relay state. Valid values depend on which directions of the relay are controlled by the object. When set to Relay.RelayDirection.BOTH, the relay can be set to any of the four states: 0v-0v, 12v-0v, 0v-12v, 12v-12v When set to FORWARD or REVERSE, you can specify the constant for the direction or you can simply specify OFF and ON. Using only OFF and ON is recommended.

Parameters:

value - The state to set the relay.

get

public Relay.RelayValue get()

Get the Relay State Gets the current state of the relay. When set to FORWARD or REVERSE, value is returned as ON/OFF not FORWARD/REVERSE (per the recommendation in Set)

Returns:

The current state of the relay as a Relay.RelayValue

setDirection

public void setDirection(Relay.RelayDirection dir)

Set the Relay Direction Changes which values the relay can be set to depending on which direction is used Valid inputs are FORWARD, REVERSE, and BOTH

Parameters:

dir - The direction for the relay to operate in

getChannel

public Relay.RelayChannel getChannel()

The channel this Relay is operating on.

Returns:

Relay.RelayChannel representation of the Relay channel

getChannelNumber

public int getChannelNumber()

The channel this Relay is operating on, in integer form.

Returns:

integer representation of the Relay channel

getChannelName

public java.lang.String getChannelName()

The channel this Relay is operating on, in string form.

Returns:

string representation of the Relay channel

enableModule

public void enableModule()

Enable the module

Specified by:

enableModule in interface Module

disableModule

public void disableModule()

Disable the module

Specified by:

disableModule in interface Module

getModuleEnabled

public boolean getModuleEnabled()

Specified by:

getModuleEnabled in interface Module