public class ServoRobot extends AbstractRobot<ServoJoint>
| Modifier and Type | Class and Description |
|---|---|
static class |
ServoRobot.ServoControllerContext<T extends Servo<?,?>>
Contains the objects used for loading and creating a ServoController.
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Robot.Id, Robot.JointId, Robot.RobotPositionHashMap, Robot.RobotPositionMap| Modifier and Type | Field and Description |
|---|---|
static VersionProperty |
VERSION
Controller type VersionProperty.
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static String |
VERSION_NAME
Controller type version name.
|
static String |
VERSION_NUMBER
Controller type version number.
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myJointList, myJointMapPROP_CONNECTED, PROP_ENABLED, PROP_ID| Constructor and Description |
|---|
ServoRobot(ServoRobotConfig config)
Creates a new ServoRobot with the given BundleContext and RobotConfig.
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| Modifier and Type | Method and Description |
|---|---|
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.
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addJoint, clearJoints, getCurrentPositions, getDefaultPositions, getGoalPositions, getJoint, getJointIds, getJointList, getJointName, getRobotId, isEnabled, removeJointaddPropertyChangeListener, addPropertyChangeListener, clearAllListeners, clearListeners, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, removePropertyChangeListener, removePropertyChangeListenerclone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, waitaddPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListenerpublic static final String VERSION_NAME
public static final String VERSION_NUMBER
public static final VersionProperty VERSION
public ServoRobot(ServoRobotConfig config)
config - Robot's configuration parameterspublic void setEnabled(boolean val)
AbstractRobotsetEnabled in interface Robot<ServoJoint>setEnabled in class AbstractRobot<ServoJoint>val - enabled valuepublic boolean connect()
Robotpublic void disconnect()
Robotpublic boolean isConnected()
Robotpublic void move(Robot.RobotPositionMap positions, long lenMillisec)
Robotpositions - map of Joint logical ids and positionslenMillisec - duration of the movement in millisecondspublic Map<ServoController.Id,ServoController> getControllers()
public List<ServoController> getControllerList()
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