org.robokind.api.motion.servos
Class ServoRobot

java.lang.Object
  org.robokind.api.common.property.PropertyChangeNotifier
      org.robokind.api.motion.AbstractRobot<ServoJoint>
          org.robokind.api.motion.servos.ServoRobot

All Implemented Interfaces:

PropertyChangeSource, Robot<ServoJoint>

public class ServoRobot
extends AbstractRobot<ServoJoint>

Robot implementation using Servos.

Author:

Matthew Stevenson

Nested Class Summary

static class

ServoRobot.ServoControllerContext<T extends Servo<?,?>> Contains the objects used for loading and creating a ServoController.

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

Robot.Id, Robot.JointId, Robot.RobotPositionHashMap, Robot.RobotPositionMap

Field Summary

static VersionProperty	VERSION Controller type VersionProperty.
static String	VERSION_NAME Controller type version name.
static String	VERSION_NUMBER Controller type version number.

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

myJointList, myJointMap

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

PROP_CONNECTED, PROP_ENABLED, PROP_ID

Constructor Summary

ServoRobot(ServoRobotConfig config)
Creates a new ServoRobot with the given BundleContext and RobotConfig.

Method Summary

boolean	connect() The Robot will accept commands only after it is successfully connected.
void	disconnect() Disconnect the Robot.
List<ServoController>	getControllerList() Returns a List of ServoControllers.
Map<ServoController.Id,ServoController>	getControllers() Returns an unmodifiable Map of ServoController.Ids and ServoControllers.
boolean	isConnected() Returns true if the Robot is connected.
void	move(Robot.RobotPositionMap positions, long lenMillisec) Move the Joints with the given ids to the corresponding positions.
void	setEnabled(boolean val) Sets the enabled status of the Robot.

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

addJoint, clearJoints, getCurrentPositions, getDefaultPositions, getGoalPositions, getJoint, getJointIds, getJointList, getJointName, getJointNames, getJoints, getRobotId, isEnabled, removeJoint

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

VERSION_NAME

public static final String VERSION_NAME

Controller type version name.

See Also:

Constant Field Values

VERSION_NUMBER

public static final String VERSION_NUMBER

Controller type version number.

See Also:

Constant Field Values

VERSION

public static final VersionProperty VERSION

Controller type VersionProperty.

Constructor Detail

ServoRobot

public ServoRobot(ServoRobotConfig config)

Creates a new ServoRobot with the given BundleContext and RobotConfig.

Parameters:

config - Robot's configuration parameters

Method Detail

setEnabled

public void setEnabled(boolean val)

Description copied from class: AbstractRobot

Sets the enabled status of the Robot. The Robot only accepts new movements when Enabled is set to true.

Specified by:

setEnabled in interface Robot<ServoJoint>

Overrides:

setEnabled in class AbstractRobot<ServoJoint>

Parameters:

val - enabled value

connect

public boolean connect()

Description copied from interface: Robot

The Robot will accept commands only after it is successfully connected.

Returns:

true is successful

disconnect

public void disconnect()

Description copied from interface: Robot

Disconnect the Robot.

isConnected

public boolean isConnected()

Description copied from interface: Robot

Returns true if the Robot is connected.

Returns:

true if the Robot is connected

move

public void move(Robot.RobotPositionMap positions,
                 long lenMillisec)

Description copied from interface: Robot

Move the Joints with the given ids to the corresponding positions.

Parameters:

positions - map of Joint logical ids and positions

lenMillisec - duration of the movement in milliseconds

getControllers

public Map<ServoController.Id,ServoController> getControllers()

Returns an unmodifiable Map of ServoController.Ids and ServoControllers.

Returns:

unmodifiable Map of ServoController.Ids and ServoControllers

getControllerList

public List<ServoController> getControllerList()

Returns a List of ServoControllers.

Returns:

List of ServoControllers