org.robokind.api.motion.servos

Class AbstractServo<Id,Conf extends ServoConfig<Id>,Ctrl extends ServoController<Id,Conf,? extends AbstractServo<Id,Conf,Ctrl>,? extends ServoControllerConfig<Id,Conf>>>

java.lang.Object

org.robokind.api.common.property.PropertyChangeNotifier

org.robokind.api.motion.servos.AbstractServo<Id,Conf,Ctrl>

Type Parameters:

Id - Identifier type for this Servo

Conf - ServoConfig type for this Servo

Ctrl - Servo's parent ServoController's type

All Implemented Interfaces:

PropertyChangeListener, EventListener, PropertyChangeSource, Servo<Id,Conf>

public abstract class AbstractServo<Id,Conf extends ServoConfig<Id>,Ctrl extends ServoController<Id,Conf,? extends AbstractServo<Id,Conf,Ctrl>,? extends ServoControllerConfig<Id,Conf>>>
extends PropertyChangeNotifier
implements Servo<Id,Conf>, PropertyChangeListener

Abstract implementation providing much of the functionality need to implement various Servos.

Author:

Matthew Stevenson

Field Summary

Fields

Modifier and Type	Field and Description
protected Conf	myConfig The Servo's configuration parameters.
protected Ctrl	myController The Servo's parent ServoController.
protected NormalizedDouble	myGoalPosition The Servo's current goal position.
protected Id	myServoId The Servo's Id

Fields inherited from interface org.robokind.api.motion.servos.Servo

PROP_ENABLED, PROP_GOAL_POSITION

Constructor Summary

Constructors

Constructor and Description
AbstractServo(Conf config, Ctrl controller) Creates a new AbstractServo from the given Servo configuration parameters and ServoController.

Method Summary

Methods

Modifier and Type	Method and Description
Integer	getAbsoluteGoalPosition() Returns the absolute goal position as used by the ServoController.
Conf	getConfig() Returns the Servo's configuration values.
Ctrl	getController() Returns the Servo's parent ServoController.
NormalizedDouble	getGoalPosition() Returns the goal position.
Id	getId() Returns the Servo's id.
NormalizableRange<Double>	getPositionRange() Returns the NormalizableRange describing the range of motion.
void	propertyChange(PropertyChangeEvent pce)
void	setGoalPosition(NormalizedDouble pos) Sets the goal position.

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.motion.servos.Servo

getDefaultPosition, getEnabled, getMaxPosition, getMinPosition, getName, setEnabled

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

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

myServoId

protected Id myServoId

The Servo's Id

myConfig

protected Conf extends ServoConfig<Id> myConfig

The Servo's configuration parameters.

myController

protected Ctrl extends ServoController<Id,Conf,? extends AbstractServo<Id,Conf,Ctrl>,? extends ServoControllerConfig<Id,Conf>> myController

The Servo's parent ServoController.

myGoalPosition

protected NormalizedDouble myGoalPosition

The Servo's current goal position.

Constructor Detail

AbstractServo

public AbstractServo(Conf config,
             Ctrl controller)

Creates a new AbstractServo from the given Servo configuration parameters and ServoController.

Parameters:

config - Servo configuration parameters

controller - Servo's parent ServoController

Method Detail

getId

public Id getId()

Description copied from interface: Servo

Returns the Servo's id.

Specified by:

getId in interface Servo<Id,Conf extends ServoConfig<Id>>

Returns:

Servo's id

getController

public Ctrl getController()

Description copied from interface: Servo

Returns the Servo's parent ServoController.

Specified by:

getController in interface Servo<Id,Conf extends ServoConfig<Id>>

Returns:

Servo's parent ServoController

getConfig

public Conf getConfig()

Description copied from interface: Servo

Returns the Servo's configuration values.

Specified by:

getConfig in interface Servo<Id,Conf extends ServoConfig<Id>>

Returns:

Servo's configuration values

getGoalPosition

public NormalizedDouble getGoalPosition()

Description copied from interface: Servo

Returns the goal position.

Specified by:

getGoalPosition in interface Servo<Id,Conf extends ServoConfig<Id>>

Returns:

current goal position

getAbsoluteGoalPosition

public Integer getAbsoluteGoalPosition()

Returns the absolute goal position as used by the ServoController.

Returns:

the absolute goal position as used by the ServoController

setGoalPosition

public void setGoalPosition(NormalizedDouble pos)

Description copied from interface: Servo

Sets the goal position.

Specified by:

setGoalPosition in interface Servo<Id,Conf extends ServoConfig<Id>>

Parameters:

pos - the goal position

propertyChange

public void propertyChange(PropertyChangeEvent pce)

Specified by:

propertyChange in interface PropertyChangeListener

getPositionRange

public NormalizableRange<Double> getPositionRange()

Description copied from interface: Servo

Returns the NormalizableRange describing the range of motion.

Specified by:

getPositionRange in interface Servo<Id,Conf extends ServoConfig<Id>>

Returns:

NormalizableRange describing the range of motion