*/\r
\r
/**\r
- * PWMManager - Interface between robot strategy code and the various motors\r
- * PWMControl classes. Agility is a number between 0 to 100 and represent the\r
- * precentage of max speed to be applied to the turn side wheel. On left turn\r
- * the left wheel will receive less speed as % of "speed" value represented by\r
- * agility.\r
+ * PWMManager - Interface between robot strategy code and the various motors PWMControl classes.\r
+ * Agility is a number between 0 to 100 and represent the precentage of max speed to be applied to\r
+ * the turn side wheel. On left turn the left wheel will receive less speed as % of "speed" value\r
+ * represented by agility.\r
* \r
* @author Michael Gesundheit\r
* @version 1.0\r
*/\r
public PWMManager(String pwmSelection) {\r
/*\r
- * Instantiate PWM Makers one for each motor. motorPortId is 1 to 8 and is\r
- * corresponding to 8 bits in a byte.\r
+ * Instantiate PWM Makers one for each motor. motorPortId is 1 to 8 and is corresponding to 8\r
+ * bits in a byte.\r
*/\r
// if (pwmSelection.equals("rtsj"))\r
// pwmControl = new PWMRtsj(this, MOTOR_PORTID_6, MOTOR_PORTID_7);\r
currentRegMask |= myValue;\r
/*\r
* // if (DEBUG){ // System.out.println("PWMM: writeToPort: myBit = 0x" +\r
- * Integer.toHexString(myBit) + // " ~myBit = 0x" +\r
- * Integer.toHexString(~myBit) + " myValue = 0x" + //\r
- * Integer.toHexString(myValue) + " currentRegMask = 0x" + //\r
+ * Integer.toHexString(myBit) + // " ~myBit = 0x" + Integer.toHexString(~myBit) +\r
+ * " myValue = 0x" + // Integer.toHexString(myValue) + " currentRegMask = 0x" + //\r
* Integer.toHexString(currentRegMask)); //}\r
*/\r
// rawJEM.set(GPIO_E_OUT, currentRegMask);\r
* public void stop(){ if(DEBUG) System.out.println("PWMManager: stop....");\r
* pwmControl.setSpeedLeft(zeroSpeed); pwmControl.setSpeedRight(zeroSpeed); }\r
* \r
- * public void search(){ if(DEBUG)\r
- * System.out.println("PWMManager: search...."); pwmControl.setSpeedLeft(70);\r
- * pwmControl.setSpeedRight(50); }\r
+ * public void search(){ if(DEBUG) System.out.println("PWMManager: search....");\r
+ * pwmControl.setSpeedLeft(70); pwmControl.setSpeedRight(50); }\r
* \r
- * public void straight(){ if(DEBUG)\r
- * System.out.println("PWMManager: strait...."); pwmControl.setSpeedLeft(100);\r
- * pwmControl.setSpeedRight(100); }\r
+ * public void straight(){ if(DEBUG) System.out.println("PWMManager: strait....");\r
+ * pwmControl.setSpeedLeft(100); pwmControl.setSpeedRight(100); }\r
* \r
- * public void spinRight(){ if(DEBUG)\r
- * System.out.println("PWMManager: spinRight....");\r
+ * public void spinRight(){ if(DEBUG) System.out.println("PWMManager: spinRight....");\r
* pwmControl.setSpeedSpinLeft(100); pwmControl.setSpeedSpinRight(0); }\r
* \r
- * public void spinLeft(){ if(DEBUG)\r
- * System.out.println("PWMManager: spinLeft....");\r
+ * public void spinLeft(){ if(DEBUG) System.out.println("PWMManager: spinLeft....");\r
* pwmControl.setSpeedSpinLeft(0); pwmControl.setSpeedSpinRight(100); }\r
* \r
* public void spin180(){ int mod = (rand.nextInt() % 2);\r
* public void left(){ if(DEBUG) System.out.println("PWMManager: left....");\r
* pwmControl.setSpeedLeft(zeroSpeed); pwmControl.setSpeedTurnRight(100); }\r
* \r
- * public void bearRight(){ if(DEBUG)\r
- * System.out.println("PWMManager: bearRight....");\r
+ * public void bearRight(){ if(DEBUG) System.out.println("PWMManager: bearRight....");\r
* pwmControl.setSpeedTurnLeft(100); pwmControl.setSpeedTurnRight(60); }\r
* \r
- * public void bearLeft(){ if(DEBUG)\r
- * System.out.println("PWMManager: bearLeft....");\r
+ * public void bearLeft(){ if(DEBUG) System.out.println("PWMManager: bearLeft....");\r
* pwmControl.setSpeedTurnLeft(60); pwmControl.setSpeedTurnRight(100); }\r
* \r
* public void back(){ if(DEBUG) System.out.println("PWMManager: back....");\r
* pwmControl.setSpeedLeft(0); pwmControl.setSpeedRight(0); }\r
* \r
- * public void backBearLeft(){ if(DEBUG)\r
- * System.out.println("PWMManager: backBearLeft....");\r
+ * public void backBearLeft(){ if(DEBUG) System.out.println("PWMManager: backBearLeft....");\r
* pwmControl.setSpeedLeft(30); pwmControl.setSpeedRight(0); }\r
* \r
- * public void backBearRight(){ if(DEBUG)\r
- * System.out.println("PWMManager: backBearRight....");\r
+ * public void backBearRight(){ if(DEBUG) System.out.println("PWMManager: backBearRight....");\r
* pwmControl.setSpeedLeft(0); pwmControl.setSpeedRight(30); }\r
*/\r
public void resume() {\r
}\r
\r
/**\r
- * Control debug messaging. true - Activate debug messages false - deactivate\r
- * debug messages\r
+ * Control debug messaging. true - Activate debug messages false - deactivate debug messages\r
*/\r
public void setDebug(boolean debug) {\r
DEBUG = debug;\r
}\r
+\r
}
\ No newline at end of file