Skip to content
SRS Documentation

Driver Reference

Configuration Functions

The below functions belong to the Config class, which is later passed into the SRSHub instance.

setAnalogDigitalDevice

public void setAnalogDigitalDevice(int pin, AnalogDigitalDevice device)

Configures an analog-digital pin to be analog, digital, or none

Parameters:

  • pin: The pin being configured, from 1 to 12
  • device: The type of device on the pin (ANALOG, DIGITAL, or NONE)

Throws:

  • IndexOutOfBoundsException: If the pin is not between 1 and 12, inclusive
  • IllegalStateException: If init has already been called

setEncoder

public void setEncoder(int port, Encoder device)

Configures an encoder port to be quadrature, pwm, or none

Parameters:

  • port: The port being configured, from 1 to 6
  • device: The type of device on the port (QUADRATURE, PWM, or NONE)

Throws:

  • IndexOutOfBoundsException: If the port is not between 1 and 6, inclusive
  • IllegalStateException: If init has already been called

addI2CDevice

public void addI2CDevice(int bus, I2CDevice device)

Adds a device to an I2C bus

Parameters:

  • bus: The bus to which the device is being added, from 1 to 3
  • device: The (unique) type of device on the bus

Throws:

  • IndexOutOfBoundsException: If the bus is not between 1 and 3, inclusive
  • IllegalStateException: If init has already been called or if a device of the same type already exists on the bus

Primary Functions

The below functions are part of the SRSHub class itself.

init

public void init(Config config)

Passes the configuration to the SRSHub and can only be called once

Parameters:

  • config: The configuration details that will be passed to the SRSHub

Throws:

  • IllegalStateException: If the SRSHub has already been initialized

init (with update threading)

public void init(Config config, boolean threadUpdates)

Passes the configuration to the SRSHub; can only be called once and must be called on the main thread

Parameters:

  • config: The configuration details that will be passed to the SRSHub
  • threadUpdates: Whether update calls should be threaded

Throws:

  • IllegalStateException: If the SRSHub has already been initialized

update

public synchronized void update()

Bulk-reads data from the SRSHub as specified in the configuration

Throws:

  • IllegalStateException: If the SRSHub has not yet been initialized
  • IllegalStateException: If threadUpdates is set to true and the method is not called on the dedicated thread
  • RuntimeException: If the SRSHub is unable to update according to the provided configuration

readAnalogDigitalDevice

public double readAnalogDigitalDevice(int pin)

Gets the current value of the AnalogDigitalDevice at the specified pin

Parameters:

  • pin: The pin being read, from 1 to 12

Returns:

  • The current value read from the AnalogDigitalDevice; from 0 to 1 for analog devices and 0 or 1 for digital devices

Throws:

  • IndexOutOfBoundsException: If the pin is not between 1 and 12, inclusive
  • IllegalStateException: If the SRSHub has not yet been initialized or if the pin was not configured

readEncoder

public PoseVel readEncoder(int port)

Gets the current position and velocity of the encoder at the specified port

Parameters:

  • port: The port being read, from 1 to 6

Returns:

  • The current position and velocity of the encoder:
  • For quadrature encoders: ticks since last reset and ticks per second
  • For PWM encoders: rotations since last reset and rotations per second

Throws:

  • IndexOutOfBoundsException: If the port is not between 1 and 6, inclusive
  • IllegalStateException: If the SRSHub has not yet been initialized or if the port was not configured

resetEncoder

public synchronized void resetEncoder(int port)

Resets the position of the encoder at the specified port

Parameters:

  • port: The port being reset, from 1 to 6

Throws:

  • IndexOutOfBoundsException: If the port is not between 1 and 6, inclusive
  • IllegalStateException: If the SRSHub has not yet been initialized or if the port was not configured

readI2CDevice

public Map<String, Double> readI2CDevice(int bus, Class<? extends I2CDevice> deviceClass)

Gets the current value(s) read from the specified I2C device at the specified bus

Parameters:

  • bus: The bus from which the device is being read, from 1 to 3
  • deviceClass: The type of device being read

Returns:

  • A map of current values returned by the I2C device

Throws:

  • IndexOutOfBoundsException: If the bus is not between 1 and 3, inclusive
  • IllegalArgumentException: If the device is not a valid I2C device class
  • IllegalStateException: If the SRSHub has not yet been initialized or if the device was not configured on the bus

Device Types

AnalogDigitalDevice

  • ANALOG: Analog input device
  • DIGITAL: Digital input device
  • NONE: No device connected

Encoder

  • QUADRATURE: Quadrature encoder
  • PWM: PWM encoder
  • NONE: No encoder connected

Supported I2C Devices

  • APDS9151: Color/proximity sensor (returns r, g, b, proximity)
  • AS7341: Spectral sensor (returns r, g, b, proximity)
  • VL53L5CX: Time-of-flight distance sensor (returns distance)
  • VL53L0X: Time-of-flight distance sensor (returns distance)