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();
        }

}