devs.motorpackage.asc16
Class ASC16

java.lang.Object
  devs.motorpackage.asc16.ASC16

public class ASC16
extends java.lang.Object

Class implementing the interface to the ASC16 controller. Only basic functions are implemented becuse the controll is on higher level

Nested Class Summary

(package private) class

ASC16.InputReader

Field Summary

protected boolean	busy
static java.io.InputStream	is Comment for is
static javax.comm.SerialPort	mPort Comment for mPort
static javax.comm.CommPortIdentifier	mPortId Comment for mPortId
static java.io.OutputStream	os Comment for os
(package private) static java.util.Enumeration	portList
static java.util.Vector	servos Comment for servos
protected int	triggerLevel

Constructor Summary

ASC16(java.lang.String portName)

Method Summary

void	closePort() Close the currently open serial port
(package private) java.io.InputStream	getInputStream()
(package private) java.io.OutputStream	getOutputStream()
void	initPort(int baud)
static void	main(java.lang.String[] args)
void	openPort(java.lang.String portName)
void	register(Servo s) Register a Servo with ASC16 controller to obtain direct feedback
void	sendInt(int i) Sends a command to the ASC16 micro-controller
void	sendInt(int[] i) Sends a array of integer representing a single command to the ASC16 This limits the problem of command mixing - easy
void	setTriggerLevel(int triggerLevel) Sets the trigger level of the ASC16 controller

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

mPortId

public static javax.comm.CommPortIdentifier mPortId

Comment for mPortId

mPort

public static javax.comm.SerialPort mPort

Comment for mPort

os

public static java.io.OutputStream os

Comment for os

is

public static java.io.InputStream is

Comment for is

portList

static java.util.Enumeration portList

servos

public static java.util.Vector servos

Comment for servos

triggerLevel

protected int triggerLevel

busy

protected boolean busy

Constructor Detail

ASC16

public ASC16(java.lang.String portName)

Parameters:

portName -

Method Detail

register

public void register(Servo s)

Register a Servo with ASC16 controller to obtain direct feedback

Parameters:

s - - Servo

sendInt

public void sendInt(int i)

Sends a command to the ASC16 micro-controller

Parameters:

i - - integer

sendInt

public void sendInt(int[] i)

Sends a array of integer representing a single command to the ASC16 This limits the problem of command mixing - easy

Parameters:

i -

openPort

public void openPort(java.lang.String portName)
              throws javax.comm.NoSuchPortException,
                     javax.comm.PortInUseException

Parameters:

portName -

Throws:

javax.comm.NoSuchPortException

javax.comm.PortInUseException

closePort

public void closePort()

Close the currently open serial port

initPort

public void initPort(int baud)
              throws javax.comm.UnsupportedCommOperationException

Parameters:

baud -

Throws:

javax.comm.UnsupportedCommOperationException

getOutputStream

java.io.OutputStream getOutputStream()
                               throws java.io.IOException

Returns:

OutputStream to use for communicating with the servo controller.

Throws:

java.io.IOException

getInputStream

java.io.InputStream getInputStream()
                             throws java.io.IOException

Returns:

InuputStream to use for communicating with the servo controller.

Throws:

java.io.IOException

setTriggerLevel

public void setTriggerLevel(int triggerLevel)

Sets the trigger level of the ASC16 controller

Parameters:

triggerLevel - - integer [0-3]

main

public static void main(java.lang.String[] args)