org.mechio.impl.motion.rxtx.serial

Class SerialServoController<Id,ServoConf extends ServoConfig<Id>,S extends Servo<Id,ServoConf>,ControllerConf extends SerialServoControllerConfig<Id,ServoConf>>

java.lang.Object

org.jflux.api.common.rk.property.PropertyChangeNotifier

org.mechio.api.motion.servos.AbstractServoController<Id,ServoConf,S,ControllerConf>

org.mechio.impl.motion.rxtx.serial.SerialServoController<Id,ServoConf,S,ControllerConf>

Type Parameters:

J - type of Servo

All Implemented Interfaces:

org.jflux.api.common.rk.property.PropertyChangeSource, ServoController<Id,ServoConf,S,ControllerConf>

public abstract class SerialServoController<Id,ServoConf extends ServoConfig<Id>,S extends Servo<Id,ServoConf>,ControllerConf extends SerialServoControllerConfig<Id,ServoConf>>
extends AbstractServoController<Id,ServoConf,S,ControllerConf>

Abstract ServoController which communicates with a Serial Port.

Author:

Matthew Stevenson

Nested Class Summary

Nested classes/interfaces inherited from interface org.mechio.api.motion.servos.ServoController

ServoController.Id, ServoController.ServoId<ServoIdType>

Field Summary

Fields

Modifier and Type	Field and Description
protected RXTXSerialPort	myPort Underlying serial port.
protected int	myTimeoutLength Port timeout length.

Fields inherited from class org.mechio.api.motion.servos.AbstractServoController

myChangeMonitor, myConfig, myConnectionStatus, myServoMap, myServos

Fields inherited from interface org.mechio.api.motion.servos.ServoController

PROP_CONNECTION_STATUS, PROP_ENABLED, PROP_ERROR_MESSAGES, PROP_SERVO_ADD, PROP_SERVO_REMOVE, PROP_SERVOS, PROP_VERSION

Constructor Summary

Constructors

Constructor and Description
SerialServoController(ControllerConf config) Creates a new SerialServoController from the SerialServoControllerConfig.

Method Summary

Methods

Modifier and Type	Method and Description
boolean	connect()
boolean	disconnect()
List<String>	getErrorMessages()
protected abstract boolean	setServos() Sets the Servo List and Servo Map of the underlying AbstractServoController.
void	setTimeoutLength(int timeout) Sets the port timeout length.

Methods inherited from class org.mechio.api.motion.servos.AbstractServoController

addingServo, addServo, changeServoId, connectServo, containsId, containsIds, disconnectServo, getConfig, getConnectionStatus, getId, getServo, getServos, removeServo, removingServo, servoId, setConnectStatus

Methods inherited from class org.jflux.api.common.rk.property.PropertyChangeNotifier

addPropertyChangeListener, addPropertyChangeListener, clearAllListeners, clearListeners, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, removePropertyChangeListener, removePropertyChangeListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface org.mechio.api.motion.servos.ServoController

getEnabled, getServoIdClass, moveAllServos, moveServo, moveServos, setEnabled

Methods inherited from interface org.jflux.api.common.rk.property.PropertyChangeSource

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

myPort

protected RXTXSerialPort myPort

Underlying serial port.

myTimeoutLength

protected int myTimeoutLength

Port timeout length.

Constructor Detail

SerialServoController

public SerialServoController(ControllerConf config)

Creates a new SerialServoController from the SerialServoControllerConfig.

Parameters:

config - ControllerConfig for the new controller

Method Detail

setTimeoutLength

public void setTimeoutLength(int timeout)

Sets the port timeout length.

Parameters:

timeout - timeout length in milliseconds

connect

public boolean connect()

setServos

protected abstract boolean setServos()

Sets the Servo List and Servo Map of the underlying AbstractServoController.

Returns:

true if successful

disconnect

public boolean disconnect()

getErrorMessages

public List<String> getErrorMessages()