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java.lang.Objectch.hei.kart.KartSetup
public class KartSetup
Groups all kart settings together and allows fancy Kart setup using returning reference listening and setter chaining techniques.
Method Summary | |
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KartSetup |
clearHwSetting(KartHardwareSettings setting)
Clears the given hardware setting flag. |
int |
drivePwmPeriod()
Returns the drive motor control block PWM period. |
KartSetup |
drivePwmPeriod(int period)
Sets the drive motor control block PWM period. |
java.util.EnumSet<KartHardwareSettings> |
hardwareSettings()
Returns the Kart's actual hardware settings. |
KartSetup |
setHwSetting(KartHardwareSettings setting)
Sets the given hardware setting flag. |
int |
steeringEndSwitchAddress()
Returns the steering end switch address from which emulated end switch the data is considered by the steering FSM. |
KartSetup |
steeringEndSwitchAddress(int address)
Sets the steering end switch address from which emulated end switch the data is considered by the steering FSM. |
int |
steeringMaxPosition()
Returns the maximal step count at the opposite site of the stepper end contact switch. |
KartSetup |
steeringMaxPosition(int position)
Sets the maximal step count of the steering motor. |
int |
steeringStepPeriod()
Returns the steering motor driver step period. |
KartSetup |
steeringStepPeriod(int period)
Sets the steering motor driver step period. |
float |
updateInterval()
Returns the update interval of the Kart in seconds. |
KartSetup |
updateInterval(float interval)
Sets the update interval of the Kart in seconds. |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Method Detail |
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public int drivePwmPeriod()
public KartSetup drivePwmPeriod(int period)
period
- PWM period.
public int steeringMaxPosition()
public KartSetup steeringMaxPosition(int position)
position
- The value of the step counter at the opposite site of the end switch.
public int steeringStepPeriod()
public KartSetup steeringStepPeriod(int period)
period
- Steering motor step period.
public int steeringEndSwitchAddress()
public KartSetup steeringEndSwitchAddress(int address)
address
- Steering end contact address.
public java.util.EnumSet<KartHardwareSettings> hardwareSettings()
public KartSetup setHwSetting(KartHardwareSettings setting)
setting
- Hardware setting flag to set.
public KartSetup clearHwSetting(KartHardwareSettings setting)
setting
- Hardware setting flag to clear.
public float updateInterval()
public KartSetup updateInterval(float interval)
interval
- Update interval in seconds.
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