org.robokind.api.motion.servos
Interface ServoController<IdType,ServoConf extends ServoConfig<IdType>,ServoType extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>

Type Parameters:

IdType - Identifier type used by this ServoController's Servos

ServoType - ServoController's Servo type

ServoConf - ServoConfig type

ControllerConf - ServoControllerConfig type

All Superinterfaces:

PropertyChangeSource

All Known Implementing Classes:

AbstractServoController

public interface ServoController<IdType,ServoConf extends ServoConfig<IdType>,ServoType extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>
extends PropertyChangeSource

A ServoController provides control of a collection of Servos and the means of directly controlling them.

Author:

Matthew Stevenson

Nested Class Summary

static class	ServoController.Id Id is an immutable globally unique identifier for a ServoController.
static class	ServoController.ServoId<ServoIdType> ServoId is an immutable globally unique identifier for a Servo belonging to a Controller.

Field Summary

static String	PROP_CONNECTION_STATUS Property string for ConnectionStatus.
static String	PROP_ENABLED Property string for Enabled.
static String	PROP_ERROR_MESSAGES Property string for ErrorMessages.
static String	PROP_SERVO_ADD Property string for AddServo.
static String	PROP_SERVO_REMOVE Property string for RemoveServo.
static String	PROP_SERVOS Property string for Servos.
static String	PROP_VERSION Used to specify the VersionProperty of a type of ServoController.

Method Summary

boolean	connect() Connects the ServoController to the underlying device to begin using.
boolean	containsId(ServoController.ServoId<IdType> id) Returns true if the controller contains a Servo for the given Servo id.
boolean	containsIds(Set<ServoController.ServoId<IdType>> ids) Returns true if the controller contains a Servo for each of the given Servo ids.
boolean	disconnect() Disconnects the underlying device, freeing any resources that have been locked.
ControllerConf	getConfig() Returns the ServoController's ServoControllerConfig.
ConnectionStatus	getConnectionStatus() Return the current ConnectionStatus.
Boolean	getEnabled() If enabled, this ServoController should accept move commands.
List<String>	getErrorMessages() Returns the current error messages.
ServoController.Id	getId() Returns the ServoController.Id identifying this ServoController.
ServoType	getServo(ServoController.ServoId<IdType> id) Returns the Servo with the given id.
Class<IdType>	getServoIdClass() Returns the Class of the Id used by the ServoController's Servos.
List<ServoType>	getServos() Returns a List of the controller's Servos.
boolean	moveAllServos(long lenMillisec) Move all of the controller's Servos.
boolean	moveServo(ServoController.ServoId<IdType> id, long lenMillisec) Move the Servo with the given Servo id to its goal position in the given time.
boolean	moveServos(ServoController.ServoId<IdType>[] ids, int len, int offset, long lenMillisec) Move the Servos with the given Servo ids to their goal positions.
void	setEnabled(Boolean enabled) If enabled, this ServoController should accept move commands.

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

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

PROP_VERSION

static final String PROP_VERSION

Used to specify the VersionProperty of a type of ServoController. This is used when registering a Service for a ServoController with OSGi.

See Also:

Constant Field Values

PROP_CONNECTION_STATUS

static final String PROP_CONNECTION_STATUS

Property string for ConnectionStatus.

See Also:

Constant Field Values

PROP_ERROR_MESSAGES

static final String PROP_ERROR_MESSAGES

Property string for ErrorMessages.

See Also:

Constant Field Values

PROP_SERVO_ADD

static final String PROP_SERVO_ADD

Property string for AddServo.

See Also:

Constant Field Values

PROP_SERVO_REMOVE

static final String PROP_SERVO_REMOVE

Property string for RemoveServo.

See Also:

Constant Field Values

PROP_SERVOS

static final String PROP_SERVOS

Property string for Servos.

See Also:

Constant Field Values

PROP_ENABLED

static final String PROP_ENABLED

Property string for Enabled.

See Also:

Constant Field Values

Method Detail

getId

ServoController.Id getId()

Returns the ServoController.Id identifying this ServoController.

Returns:

getServos

List<ServoType> getServos()

Returns a List of the controller's Servos.

Returns:

List of the controller's Servos

getServo

ServoType getServo(ServoController.ServoId<IdType> id)

Returns the Servo with the given id.

Parameters:

id - the Servo id

Returns:

Servo with the given id

containsIds

boolean containsIds(Set<ServoController.ServoId<IdType>> ids)

Returns true if the controller contains a Servo for each of the given Servo ids.

Parameters:

ids - Set of Servo ids to check

Returns:

true if the controller contains a Servo for each of the given Servo ids

containsId

boolean containsId(ServoController.ServoId<IdType> id)

Returns true if the controller contains a Servo for the given Servo id.

Parameters:

id - Servo id to check

Returns:

true if the controller contains a Servo for the given Servo id

connect

boolean connect()

Connects the ServoController to the underlying device to begin using. The ServoController is expected to be inoperable before calling connect.

Returns:

true if successfully connected

disconnect

boolean disconnect()

Disconnects the underlying device, freeing any resources that have been locked.

Returns:

true id successfully disconnected

moveServo

boolean moveServo(ServoController.ServoId<IdType> id,
                  long lenMillisec)

Move the Servo with the given Servo id to its goal position in the given time.

Parameters:

id - Servo id of the Servo to move

lenMillisec - number of milliseconds for the movement to take

Returns:

false if there is an error moving the Servo

moveServos

boolean moveServos(ServoController.ServoId<IdType>[] ids,
                   int len,
                   int offset,
                   long lenMillisec)

Move the Servos with the given Servo ids to their goal positions. If the controller does not contain a given id, that id is ignored.

Parameters:

ids - Servo ids of the Servos to move

len - number of ids

offset - start index

lenMillisec - number of milliseconds for the movement to take

Returns:

false is there is an error moving a Servo

moveAllServos

boolean moveAllServos(long lenMillisec)

Move all of the controller's Servos.

Parameters:

lenMillisec - number of milliseconds for the movement to take

Returns:

false if there is an error with one or more Servos

getConnectionStatus

ConnectionStatus getConnectionStatus()

Return the current ConnectionStatus.

Returns:

current ConnectionStatus

getErrorMessages

List<String> getErrorMessages()

Returns the current error messages.

Returns:

current error messages

getConfig

ControllerConf getConfig()

Returns the ServoController's ServoControllerConfig.

Returns:

this ServoController's ServoControllerConfig

setEnabled

void setEnabled(Boolean enabled)

If enabled, this ServoController should accept move commands. If not enabled, this ServoController should not move.

Parameters:

enabled -

getEnabled

Boolean getEnabled()

If enabled, this ServoController should accept move commands. If not enabled, this ServoController should not move.

Returns:

true if enabled

getServoIdClass

Class<IdType> getServoIdClass()

Returns the Class of the Id used by the ServoController's Servos.

Returns:

Class of the Id used by the ServoController's Servos