com.mindsensors

Class CANLight

java.lang.Object

com.mindsensors.CANLight

public class CANLight
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
CANLight(int deviceNumber) An instance of this object represents a single CANLight device.

Method Summary

Modifier and Type	Method and Description
void	blinkLED(int seconds) Each CANLight has a build-in LED on the board itself.
void	cycle(int fromIndex, int toIndex) Cycle through a sequence of stored color values.
void	fade(int startIndex, int endIndex) Fade across a sequence of stored color values.
void	flash(int index) Flash a stored color.
void	free()
double	getBatteryVoltage()
java.lang.String	getBootloaderVersion()
int	getDeviceID()
java.lang.String	getDeviceName()
java.lang.String	getFirmwareVersion()
java.lang.String	getHardwareVersion()
static java.lang.String	getLibraryVersion()
java.lang.String	getSerialNumber()
void	reset() Restore the registers to power on default.
void	showRegister(int index) Display a stored color.
void	showRGB(int red, int green, int blue) Set a static color for the CANLight to display.
void	writeRegister(int index, double time, int red, int green, int blue) Write a value in the CANLight's internal memory.

Methods inherited from class java.lang.Object

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

Constructor Detail

CANLight

public CANLight(int deviceNumber)

An instance of this object represents a single CANLight device. Multiple devices can be used indepentently to control multiple light strips. Only a single instance can be created for each device ID. Please construct this object only once when initializing your robot and pass the reference around. If you do wish to call this constructor with the same ID later, call free() first.

If a CANLight does not have a CAN connection to a roboRIO, its default behavior of cycle(1,7) will be used. If it does find a CAN connection, it will execute showRegister(0). The CANLight will continue to execute its last command until a new one is issued via one of the methods detailed below.

The CANLight can hold a sequence of up to eight colors and associated durations. Each register has a default value. The WriteRegister command can be used to change these. The CANLight will restore its default values when power is lost.

Parameters:

deviceNumber - An integer between 1 and 60 (inclusive) for the ID of this CANLight. CAN IDs can be modified through the mindsensors configuration tool, available at mindsensors.com/pages/311 . Devices will ship with a factory default CAN ID of 3. Please use a unique ID for each device.

Method Detail

getLibraryVersion

public static java.lang.String getLibraryVersion()

Returns:

The version of this library in the format major.minor , for example: "1.1"

free

public void free()

getDeviceID

public int getDeviceID()

Returns:

The device ID provided when constructing this CANLight instance.

getDeviceName

public java.lang.String getDeviceName()

Returns:

The name associated with this CANLight. The factory default will be "CANLight", but this value can be changed through the mindsensors configuration tool.

getFirmwareVersion

public java.lang.String getFirmwareVersion()

Returns:

The firmware version of this CANLight. Firmware can be updated through the mindsensors configuration tool. This may be considered during inspection at competitions. Firmware updates can provide new features. The firmware version of the CANLight device must be compatible with this library.

getHardwareVersion

public java.lang.String getHardwareVersion()

Returns:

The hardware version of this CANLight. Any hardware revisions will have a different hardware version number.

getBootloaderVersion

public java.lang.String getBootloaderVersion()

Returns:

The bootloader version of this CANLight. The bootloader is used to update firmware on the CANLight.

getSerialNumber

public java.lang.String getSerialNumber()

Returns:

The serial number of this device. Each serial number is unique and may be requested for customer support.

blinkLED

public void blinkLED(int seconds)

Each CANLight has a build-in LED on the board itself. This command will cause it to blink for a specified duration. This can be useful in debugging. Please do not confuse this with a fast flashing pattern, which signifies that the CANLight can not find a connection to the FRC driver station.

Parameters:

seconds - The number of seconds to blink.

showRGB

public void showRGB(int red,
                    int green,
                    int blue)

Set a static color for the CANLight to display. This command will simply set red, green, and blue values for the RGB LED strip. The CANLight will continue to display this color until a new command is called.

Parameters:

red - An integer between 0 and 255 (inclusive) for the red component of the color to show.

green - An integer between 0 and 255 (inclusive) for the green component of the color to show.

blue - An integer between 0 and 255 (inclusive) for the blue component of the color to show.

writeRegister

public void writeRegister(int index,
                          double time,
                          int red,
                          int green,
                          int blue)

Write a value in the CANLight's internal memory. The CANLight has 8 internal memory slots (registers) for use in commands like cycle(int, int). The time value will determine how long a color will display with flash(int) or cycle(int, int), or how long it will take to fade from this color. They have preset values, but this command allows for changing the stored colors. The registers will return to their default values when the CANLight loses power. A robot's initialization function can be a good place to set up these values.

Parameters:

index - An integer between 0 and 7 (inclusive) for which register to write to.

time - The duration, in seconds, to use in commands like flash(int) or cycle(int, int). Value less than 1 can be used, such as 0.25 for a quarter of a second.

red - An integer between 0 and 255 (inclusive).

green - An integer between 0 and 255 (inclusive).

blue - An integer between 0 and 255 (inclusive).

reset

public void reset()

Restore the registers to power on default. These are, in order, from index 0 to 7: off, red, green, blue, orange, teal, purple, white.

showRegister

public void showRegister(int index)

Display a stored color. As with showRGB(int, int, int) this color will be displayed until a new command is issued.

Parameters:

index - An integer between 0 and 7 (inclusive) for which register to show.

flash

public void flash(int index)

Flash a stored color. Lights will remain on and off for the time specified in this register.

Parameters:

index - An integer between 0 and 7 (inclusive) for which register to show.

cycle

public void cycle(int fromIndex,
                  int toIndex)

Cycle between a sequence of stored color values.

Parameters:

fromIndex - An integer between 0 and 7 (inclusive) for which register to begin the sequence at.

toIndex - An integer between 0 and 7 (inclusive) for which register to use as the last color in the sequence.

fade

public void fade(int startIndex,
                 int endIndex)

Fade across a sequence of stored color values. Similar t. cycle(int, int), but fading between colors instead of jumping to them. The duration value of each register specifies how long it will take to fade from that color.

Parameters:

startIndex - An integer between 0 and 7 (inclusive) for which register to begin at.

endIndex - An integer between 0 and 7 (inclusive) for which register to end at.

getBatteryVoltage

public double getBatteryVoltage()

Returns:

The voltage this CANLight device is currently receiving. A value of 0.0 likely indicates this CANLight is not connected properly. Please check the CAN and power connections, or look to the CANLight user guide on mindsensors.com.