Subversion Repositories Code-Repo

package IEEERobotics.IOIOAI.VT;

import ioio.lib.api.AnalogInput;

import ioio.lib.api.IOIO;

import ioio.lib.api.exception.ConnectionLostException;

public class InputVoltage implements InputInterface {

	IOIO _ioio;

	private static int VNEG_PIN = 42;

	private static int VPOS_PIN = 43;

	private AnalogInput _negvolt;

	private AnalogInput _posvolt;

	@Override

	public void initialize(IOIO ioio) throws ConnectionLostException {

		_ioio = ioio;

		_negvolt = _ioio.openAnalogInput(VNEG_PIN);

		_posvolt = _ioio.openAnalogInput(VPOS_PIN);

	}

	@Override

	public double getValue() throws InterruptedException, ConnectionLostException {

		// Read in voltage

        float volt = _posvolt.getVoltage();

        // If volt is zero, check reverse polarity

        if (volt == 0) {

				volt = _negvolt.getVoltage();

        }

        return (double)volt;

	}

	@Override

	public String getPinDescription() {

		return "Pin #42-43";

	}

	@Override

	public void closePins() {

		_negvolt.close();

		_posvolt.close();

	}

}