org.robokind.api.motion.servos
Class ServoJoint<S extends Servo>

java.lang.Object
  org.robokind.api.common.property.PropertyChangeNotifier
      org.robokind.api.motion.AbstractJoint
          org.robokind.api.motion.servos.ServoJoint<S>

Type Parameters:

S - Servo Type to use

All Implemented Interfaces:

PropertyChangeListener, EventListener, PropertyChangeSource, Joint

Direct Known Subclasses:

EmptyServoJoint

public class ServoJoint<S extends Servo>
extends AbstractJoint

Author:

Matthew Stevenson

Nested Class Summary

Nested classes/interfaces inherited from interface org.robokind.api.motion.Joint

Joint.Id

Field Summary

protected S

myServo The ServoJoint's Servo

Fields inherited from class org.robokind.api.motion.AbstractJoint

myProperties

Fields inherited from interface org.robokind.api.motion.Joint

PROP_ENABLED, PROP_GOAL_POSITION

Constructor Summary

ServoJoint(Joint.Id jointId, S servo, List<JointProperty> properties)
Creates a new ServoJoint

Method Summary

NormalizedDouble	getDefaultPosition() Returns the Joint's default position.
Boolean	getEnabled() If enabled, this Joint will accept move commands.
NormalizedDouble	getGoalPosition() Returns the goal position.
String	getName() Returns the name of the Joint.
Servo	getServo() Returns the Servo backing this ServoJoint.
void	setEnabled(Boolean enabled) If enabled, this Joint will accept move commands.
protected void	setGoalPosition(NormalizedDouble pos) Allows the ServoRobot to set the goal position.

Methods inherited from class org.robokind.api.motion.AbstractJoint

addProperty, getId, getProperty, getProperty, propertyChange, removeProperty

Methods inherited from class org.robokind.api.common.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.robokind.api.common.property.PropertyChangeSource

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

myServo

protected S extends Servo myServo

The ServoJoint's Servo

Constructor Detail

ServoJoint

public ServoJoint(Joint.Id jointId,
                  S servo,
                  List<JointProperty> properties)

Creates a new ServoJoint

Parameters:

jointId - Joint.Id to use

servo - Servo to use

properties - JointProperties for this Joint

Method Detail

getName

public String getName()

Description copied from interface: Joint

Returns the name of the Joint.

Returns:

name of the Joint

getDefaultPosition

public NormalizedDouble getDefaultPosition()

Description copied from interface: Joint

Returns the Joint's default position.

Returns:

Joint's default position

setEnabled

public void setEnabled(Boolean enabled)

Description copied from interface: Joint

If enabled, this Joint will accept move commands. If not enabled, this joint should not move.

getEnabled

public Boolean getEnabled()

Description copied from interface: Joint

If enabled, this Joint will accept move commands. If not enabled, this joint should not move.

Returns:

true if enabled

getGoalPosition

public NormalizedDouble getGoalPosition()

Description copied from interface: Joint

Returns the goal position.

Returns:

goal position

getServo

public Servo getServo()

Returns the Servo backing this ServoJoint.

Returns:

Servo backing this ServoJoint

setGoalPosition

protected void setGoalPosition(NormalizedDouble pos)

Allows the ServoRobot to set the goal position.

Parameters:

pos - new goal position