DeviceManager

```
public interface DeviceManager
```

Nested Class Summary

Nested Classes
Modifier and Type Interface and Description

static class DeviceManager.DeviceType
Enum of known USB Device Types (Note that the MR .AAR library has an internal copy of this)

Nested Classes
Modifier and Type	Interface and Description
`static class`	`DeviceManager.DeviceType` Enum of known USB Device Types (Note that the MR .AAR library has an internal copy of this)

Method Summary

Methods
Modifier and Type	Method and Description
`ColorSensor`	`createAdafruitI2cColorSensor(I2cController controller, int channel)` Create an instance of a ColorSensor
`AnalogInput`	`createAnalogInputDevice(AnalogInputController controller, int channel)`
`OpticalDistanceSensor`	`createAnalogOpticalDistanceSensor(AnalogInputController analogInputController, int physicalPort)` Create an instance of an OpticalDistanceSensor
`AnalogOutput`	`createAnalogOutputDevice(AnalogOutputController controller, int channel)`
`CRServo`	`createCRServo(ServoController controller, int portNumber)`
`DcMotor`	`createDcMotor(DcMotorController controller, int portNumber)` Create an instance of a DcMotor
`DcMotor`	`createDcMotorEx(DcMotorController controller, int portNumber)`
`DeviceInterfaceModule`	`createDeviceInterfaceModule(SerialNumber serialNumber)`
`DigitalChannel`	`createDigitalChannelDevice(DigitalChannelController controller, int channel)`
`TouchSensor`	`createDigitalTouchSensor(DeviceInterfaceModule deviceInterfaceModule, int physicalPort)` Create an instance of a TouchSensor
`I2cDevice`	`createI2cDevice(I2cController controller, int channel)`
`IrSeekerSensor`	`createI2cIrSeekerSensorV3(I2cController i2cController, int physicalPort)` Create an instance of a IrSeekerSensorV3
`LED`	`createLED(DigitalChannelController controller, int channel)` Create an instance of an LED
`ColorSensor`	`createModernRoboticsI2cColorSensor(I2cController controller, int channel)` Create an instance of a ColorSensor
`GyroSensor`	`createModernRoboticsI2cGyroSensor(I2cController i2cController, int physicalPort)` Create an instance of a GyroSensor
`AccelerationSensor`	`createNxtAccelerationSensor(LegacyModule legacyModule, int physicalPort)` Create an instance of a AccelerationSensor
`ColorSensor`	`createNxtColorSensor(LegacyModule controller, int channel)` Create an instance of a ColorSensor
`CompassSensor`	`createNxtCompassSensor(LegacyModule legacyModule, int physicalPort)` Create an instance of a NxtCompassSensor
`DcMotorController`	`createNxtDcMotorController(LegacyModule legacyModule, int physicalPort)` Create an instance of an NXT DcMotorController
`GyroSensor`	`createNxtGyroSensor(LegacyModule legacyModule, int physicalPort)` Create an instance of a GyroSensor
`IrSeekerSensor`	`createNxtIrSeekerSensor(LegacyModule legacyModule, int physicalPort)` Create an instance of a IrSeekerSensor
`LightSensor`	`createNxtLightSensor(LegacyModule legacyModule, int physicalPort)` Create an instance of a LightSensor
`ServoController`	`createNxtServoController(LegacyModule legacyModule, int physicalPort)` Create an instance of an NXT ServoController
`TouchSensor`	`createNxtTouchSensor(LegacyModule legacyModule, int physicalPort)`
`TouchSensorMultiplexer`	`createNxtTouchSensorMultiplexer(LegacyModule legacyModule, int port)`
`UltrasonicSensor`	`createNxtUltrasonicSensor(LegacyModule legacyModule, int physicalPort)` Create an instance of an UltrasonicSensor
`PWMOutput`	`createPwmOutputDevice(PWMOutputController controller, int channel)`
`PWMOutput`	`createPwmOutputDeviceEx(PWMOutputController controller, int channel)`
`Servo`	`createServo(ServoController controller, int portNumber)` Create an instance of a Servo
`Servo`	`createServoEx(ServoController controller, int portNumber)`
`DcMotorController`	`createUsbDcMotorController(SerialNumber serialNumber)` Create an instance of a DcMotorController
`LegacyModule`	`createUsbLegacyModule(SerialNumber serialNumber)` Create an instance of a LegacyModule
`ServoController`	`createUsbServoController(SerialNumber serialNumber)` Create an instance of a ServoController
`HardwareDevice`	`createUserI2cDevice(I2cController controller, int channel, UserSensorType type)` Returns a new instance of a user-defined sensor type.
`java.util.Map<SerialNumber,DeviceManager.DeviceType>`	`scanForUsbDevices()` Get a listing of all Modern Robotics devices connected.

- Method Detail
  - scanForUsbDevices
```
java.util.Map<SerialNumber,DeviceManager.DeviceType> scanForUsbDevices()
                                                                       throws RobotCoreException
```
    Get a listing of all Modern Robotics devices connected.
    This method will attempt to open all USB devices that are using an FTDI USB chipset. It will then probe the device to determine if it is a Modern Robotics device. Finally, it will close the device.
    Because of the opening and closing of devices, it is recommended that this method is not called while any FTDI devices are in use.
    
    Returns:
    a map of serial numbers to Modern Robotics device types
    
    Throws:
    
    RobotCoreException - if unable to open a device
  - createUsbDcMotorController
```
DcMotorController createUsbDcMotorController(SerialNumber serialNumber)
                                             throws RobotCoreException,
                                                    java.lang.InterruptedException
```
    Create an instance of a DcMotorController
    
    Parameters:
    serialNumber - serial number of controller
    
    Returns:
    an instance of a DcMotorController
    
    Throws:
    
    RobotCoreException - if unable to create instance
    
    java.lang.InterruptedException
  - createDcMotor
```
DcMotor createDcMotor(DcMotorController controller,
                    int portNumber)
```
    Create an instance of a DcMotor
    
    Parameters:
    controller - DC Motor controller this motor is attached to
    portNumber - physical port number on the controller
    
    Returns:
    an instance of a DcMotor
  - createDcMotorEx
```
DcMotor createDcMotorEx(DcMotorController controller,
                      int portNumber)
```
  - createUsbServoController
```
ServoController createUsbServoController(SerialNumber serialNumber)
                                         throws RobotCoreException,
                                                java.lang.InterruptedException
```
    Create an instance of a ServoController
    
    Parameters:
    serialNumber - serial number of controller
    
    Returns:
    an instance of a ServoController
    
    Throws:
    
    RobotCoreException - if unable to create instance
    
    java.lang.InterruptedException
  - createServo
```
Servo createServo(ServoController controller,
                int portNumber)
```
    Create an instance of a Servo
    
    Parameters:
    controller - Servo controller this servo is attached to
    portNumber - physical port number on the controller
    
    Returns:
    an instance of a Servo
  - createServoEx
```
Servo createServoEx(ServoController controller,
                  int portNumber)
```
  - createCRServo
```
CRServo createCRServo(ServoController controller,
                    int portNumber)
```
  - createUsbLegacyModule
```
LegacyModule createUsbLegacyModule(SerialNumber serialNumber)
                                   throws RobotCoreException,
                                          java.lang.InterruptedException
```
    Create an instance of a LegacyModule
    
    Parameters:
    serialNumber - serial number of legacy module
    
    Returns:
    an instance of a LegacyModule
    
    Throws:
    
    RobotCoreException - if unable to create instance
    
    java.lang.InterruptedException
  - createDeviceInterfaceModule
```
DeviceInterfaceModule createDeviceInterfaceModule(SerialNumber serialNumber)
                                                  throws RobotCoreException,
                                                         java.lang.InterruptedException
```
    Parameters:
    serialNumber - serial number of Core Device Interface module
    
    Returns:
    - an instance of a Core Device Interface Module
    
    Throws:
    
    RobotCoreException - if unable to create instance
    
    java.lang.InterruptedException
  - createNxtTouchSensor
```
TouchSensor createNxtTouchSensor(LegacyModule legacyModule,
                               int physicalPort)
```
    Parameters:
    legacyModule - the Legacy Module this sensor is attached to
    physicalPort - port number on Legacy Module it's connected to
    
    Returns:
    an instance of the NXT Touch Sensor
  - createNxtTouchSensorMultiplexer
```
TouchSensorMultiplexer createNxtTouchSensorMultiplexer(LegacyModule legacyModule,
                                                     int port)
```
    Parameters:
    legacyModule - the Legacy Module this sensor is attached to
    port - port number on Legacy Module this sensor is connected to.
    
    Returns:
    an instance of the NXT Touch Sensor Multiplexer
  - createAnalogInputDevice
```
AnalogInput createAnalogInputDevice(AnalogInputController controller,
                                  int channel)
```
    Parameters:
    controller - Analog Input Controller Module this device is connected to
    
    Returns:
    - an instance of an Analog Input device
  - createAnalogOutputDevice
```
AnalogOutput createAnalogOutputDevice(AnalogOutputController controller,
                                    int channel)
```
    Parameters:
    controller - Analog Output Controller Module this device is connected to
    
    Returns:
    - an instance of an Analog Output device
  - createDigitalChannelDevice
```
DigitalChannel createDigitalChannelDevice(DigitalChannelController controller,
                                        int channel)
```
    Parameters:
    controller - Device Interface Module this device is connected to
    
    Returns:
    - an instance of an Digital Channel device
  - createPwmOutputDevice
```
PWMOutput createPwmOutputDevice(PWMOutputController controller,
                              int channel)
```
    Parameters:
    controller - PWM Output Controller Module this device is connected to
    
    Returns:
    - an instance of an Digital Channel device
  - createPwmOutputDeviceEx
```
PWMOutput createPwmOutputDeviceEx(PWMOutputController controller,
                                int channel)
```
  - createI2cDevice
```
I2cDevice createI2cDevice(I2cController controller,
                        int channel)
```
    Parameters:
    controller - I2c Controller Module this device is conneced to
    channel - the channel it's connected to on the Controller
    
    Returns:
    an instance of an I2c Channel device
  - createUserI2cDevice
```
HardwareDevice createUserI2cDevice(I2cController controller,
                                 int channel,
                                 UserSensorType type)
```
    Returns a new instance of a user-defined sensor type.
  - createNxtDcMotorController
```
DcMotorController createNxtDcMotorController(LegacyModule legacyModule,
                                           int physicalPort)
```
    Create an instance of an NXT DcMotorController
    
    Parameters:
    legacyModule - Legacy Module this device is connected to
    physicalPort - port number on the Legacy Module this device is connected to
    
    Returns:
    a DcMotorController
  - createNxtServoController
```
ServoController createNxtServoController(LegacyModule legacyModule,
                                       int physicalPort)
```
    Create an instance of an NXT ServoController
    
    Parameters:
    legacyModule - Legacy Module this device is connected to
    physicalPort - port number on the Legacy Module this device is connected to
    
    Returns:
    a ServoController
  - createNxtCompassSensor
```
CompassSensor createNxtCompassSensor(LegacyModule legacyModule,
                                   int physicalPort)
```
    Create an instance of a NxtCompassSensor
    
    Parameters:
    legacyModule - Legacy Module this device is connected to
    physicalPort - port number on the Legacy Module this device is connected to
    
    Returns:
    a CompassSensor
  - createDigitalTouchSensor
```
TouchSensor createDigitalTouchSensor(DeviceInterfaceModule deviceInterfaceModule,
                                   int physicalPort)
```
    Create an instance of a TouchSensor
    
    Parameters:
    deviceInterfaceModule - Legacy Module this device is connected to
    physicalPort - port number on the Device Interface Module this device is connected to
    
    Returns:
    a TouchSensor
  - createNxtAccelerationSensor
```
AccelerationSensor createNxtAccelerationSensor(LegacyModule legacyModule,
                                             int physicalPort)
```
    Create an instance of a AccelerationSensor
    
    Parameters:
    legacyModule - Legacy Module this device is connected to
    physicalPort - port number on the Legacy Module this device is connected to
    
    Returns:
    an AccelerationSensor
  - createNxtLightSensor
```
LightSensor createNxtLightSensor(LegacyModule legacyModule,
                               int physicalPort)
```
    Create an instance of a LightSensor
    
    Parameters:
    legacyModule - Legacy Module this device is connected to
    physicalPort - port number on the Legacy Module this device is connected to
    
    Returns:
    a LightSensor
  - createNxtIrSeekerSensor
```
IrSeekerSensor createNxtIrSeekerSensor(LegacyModule legacyModule,
                                     int physicalPort)
```
    Create an instance of a IrSeekerSensor
    
    Parameters:
    legacyModule - Legacy Module this device is connected to
    physicalPort - port number on the Legacy Module this device is connected to
    
    Returns:
    an IrSeekerSensor
  - createI2cIrSeekerSensorV3
```
IrSeekerSensor createI2cIrSeekerSensorV3(I2cController i2cController,
                                       int physicalPort)
```
    Create an instance of a IrSeekerSensorV3
    
    Parameters:
    i2cController - the I2cController this device is connected to
    physicalPort - port number on the Device Interface Module this device is connected to
    
    Returns:
    an IrSeekerSensor
  - createNxtUltrasonicSensor
```
UltrasonicSensor createNxtUltrasonicSensor(LegacyModule legacyModule,
                                         int physicalPort)
```
    Create an instance of an UltrasonicSensor
    
    Parameters:
    legacyModule - Legacy Module this device is connected to
    physicalPort - port number on the Legacy Module this device is connected to
    
    Returns:
    an UltrasonicSensor
  - createNxtGyroSensor
```
GyroSensor createNxtGyroSensor(LegacyModule legacyModule,
                             int physicalPort)
```
    Create an instance of a GyroSensor
    
    Parameters:
    legacyModule - Legacy Module this device is connected to
    physicalPort - port number on the Legacy Module this device is connected to
    
    Returns:
    a GyroSensor
  - createModernRoboticsI2cGyroSensor
```
GyroSensor createModernRoboticsI2cGyroSensor(I2cController i2cController,
                                           int physicalPort)
```
    Create an instance of a GyroSensor
    
    Parameters:
    i2cController - module this device is connected to
    physicalPort - port number on the Legacy Module this device is connected to
    
    Returns:
    a GyroSensor
  - createAnalogOpticalDistanceSensor
```
OpticalDistanceSensor createAnalogOpticalDistanceSensor(AnalogInputController analogInputController,
                                                      int physicalPort)
```
    Create an instance of an OpticalDistanceSensor
    
    Parameters:
    analogInputController - controller this sensor is connected to
    physicalPort - the port number on the controller it's plugged into
    
    Returns:
    an OpticalDistanceSensor
  - createAdafruitI2cColorSensor
```
ColorSensor createAdafruitI2cColorSensor(I2cController controller,
                                       int channel)
```
    Create an instance of a ColorSensor
    
    Parameters:
    controller - Device Interface Module this sensor is connected to
    channel - the I2C port on the Device Interface this module is connected to
    
    Returns:
    a ColorSensor
  - createNxtColorSensor
```
ColorSensor createNxtColorSensor(LegacyModule controller,
                               int channel)
```
    Create an instance of a ColorSensor
    
    Parameters:
    controller - Legacy Module this sensor is attached to
    channel - the I2C port it's connected to
    
    Returns:
    a ColorSensor
  - createModernRoboticsI2cColorSensor
```
ColorSensor createModernRoboticsI2cColorSensor(I2cController controller,
                                             int channel)
```
    Create an instance of a ColorSensor
    
    Parameters:
    controller - Device Interface Module this sensor is attached to
    channel - the I2C port it's connected to
    
    Returns:
    a ColorSensor
  - createLED
```
LED createLED(DigitalChannelController controller,
            int channel)
```
    Create an instance of an LED
    
    Parameters:
    controller - Digital Channel Controller this LED is connected to
    channel - the digital port it's connected to
    
    Returns:
    an LED

Interface DeviceManager

Nested Class Summary

Method Summary

Method Detail

scanForUsbDevices

createUsbDcMotorController

createDcMotor

createDcMotorEx

createUsbServoController

createServo

createServoEx

createCRServo

createUsbLegacyModule

createDeviceInterfaceModule

createNxtTouchSensor

createNxtTouchSensorMultiplexer

createAnalogInputDevice

createAnalogOutputDevice

createDigitalChannelDevice

createPwmOutputDevice

createPwmOutputDeviceEx

createI2cDevice

createUserI2cDevice

createNxtDcMotorController

createNxtServoController

createNxtCompassSensor

createDigitalTouchSensor

createNxtAccelerationSensor

createNxtLightSensor

createNxtIrSeekerSensor

createI2cIrSeekerSensorV3

createNxtUltrasonicSensor

createNxtGyroSensor

createModernRoboticsI2cGyroSensor

createAnalogOpticalDistanceSensor

createAdafruitI2cColorSensor

createNxtColorSensor

createModernRoboticsI2cColorSensor

createLED