devs.motorpackage.asc16
Class Servo

java.lang.Object
  java.lang.Thread
      devs.motorpackage.asc16.Motor
          devs.motorpackage.asc16.Servo

All Implemented Interfaces:

BioDevice, ASC16Listener, java.lang.Runnable, java.util.EventListener, MNSListener

public class Servo
extends Motor
implements BioDevice, ASC16Listener

Author:

martin lukac Controls servo motors, must point to a comunication class (ASC16) Servo contains all information regarding servos. This includes the left right and center frequencies.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Thread

java.lang.Thread.State, java.lang.Thread.UncaughtExceptionHandler

Field Summary

Fields inherited from class devs.motorpackage.asc16.Motor

acceleration, currentPosition, currentSpeed, highPosition, highSpeed, lowPosition, lowSpeed, midlePosition, motorController, motorListeners, motorNumber, newPosition, newSpeed

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Fields inherited from interface biocell.BioDevice

BLOCKED, BUSY, CYCLING, DONE, END, PAUSED, RESUMED, START, WAIT

Fields inherited from interface devs.motorpackage.asc16.ASC16Listener

HIGH_POSITION, HIGH_SPEED, LOW_POSITION, LOW_SPEED, MIDDLE_SPEED, MIDLE_POSITION

Constructor Summary

Servo(ASC16 motorController, int low, int high, int low_speed, int high_speed, int servoNumber)

Servo(int servoNumber)

Method Summary

void	addListener(BioDeviceListener listener)
void	flushQueue()
int	getAcceleration()
int	getCenterPosition()
java.lang.String	getControls()
int	getCurrentPosition()
int	getCurrentSpeed()
int	getCurrentState()
int	getHighPosition()
int	getHighSpeed()
int	getLowPosition()
int	getLowSpeed()
ASC16	getMotorController()
int	getMotorNumber()
java.lang.String	getname()
int	getNormHighPosition()
int	getNormLowPosition()
void	initialize() Sets Servo to center Independent of thread
void	load(MNSEvent cnE) simple interface to control all Devices
void	loadCNTR(MNSEvent mnE)
void	process(MNSEvent cnv) loads a CNSEvent into a listener
void	setAcceleration(int acceleration)
void	setNormHighPosition(int highPosition)
void	setNormHighSpeed(int highSpeed)
void	setNormLowPosition(int lowPosition)
void	setNormLowSpeed(int lowSpeed)
void	setSpeed(int newSpeed)
void	stateChanged()

Methods inherited from class devs.motorpackage.asc16.Motor

fireMotorEvent, removeMotorListener

Methods inherited from class java.lang.Thread

activeCount, checkAccess, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, run, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yield

Methods inherited from class java.lang.Object

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

Constructor Detail

Servo

public Servo(int servoNumber)

Parameters:

servoNumber -

Servo

public Servo(ASC16 motorController,
             int low,
             int high,
             int low_speed,
             int high_speed,
             int servoNumber)

Parameters:

motorController - - ASC16

low - - min position

high - - max position

low_speed - - min speed

high_speed - - max speed

servoNumber - - iD

Method Detail

getname

public java.lang.String getname()

Specified by:

getname in interface BioDevice

Returns:

getMotorController

public ASC16 getMotorController()
                         throws java.lang.NullPointerException

Returns:

Returns the pointer to the servo controller communication class.

Throws:

java.lang.NullPointerException

getControls

public java.lang.String getControls()

Specified by:

getControls in interface BioDevice

Returns:

process

public void process(MNSEvent cnv)

Description copied from interface: MNSListener

loads a CNSEvent into a listener

Specified by:

process in interface MNSListener

addListener

public void addListener(BioDeviceListener listener)

Specified by:

addListener in interface BioDevice

stateChanged

public void stateChanged()

Specified by:

stateChanged in interface ASC16Listener

initialize

public void initialize()

Sets Servo to center Independent of thread

getCurrentPosition

public int getCurrentPosition()

Specified by:

getCurrentPosition in interface BioDevice

Specified by:

getCurrentPosition in class Motor

Returns:

load

public void load(MNSEvent cnE)

Description copied from interface: BioDevice

simple interface to control all Devices

Specified by:

load in interface BioDevice

loadCNTR

public void loadCNTR(MNSEvent mnE)

Specified by:

loadCNTR in interface BioDevice

flushQueue

public void flushQueue()

getCurrentState

public int getCurrentState()

Specified by:

getCurrentState in interface BioDevice

Returns:

getMotorNumber

public int getMotorNumber()

Specified by:

getMotorNumber in class Motor

Returns:

getCenterPosition

public int getCenterPosition()

getHighPosition

public int getHighPosition()

getLowPosition

public int getLowPosition()

getLowSpeed

public int getLowSpeed()

getHighSpeed

public int getHighSpeed()

getCurrentSpeed

public int getCurrentSpeed()

Specified by:

getCurrentSpeed in class Motor

Returns:

setAcceleration

public void setAcceleration(int acceleration)

Specified by:

setAcceleration in class Motor

getAcceleration

public int getAcceleration()

setSpeed

public void setSpeed(int newSpeed)

Specified by:

setSpeed in class Motor

setNormHighPosition

public void setNormHighPosition(int highPosition)

Parameters:

highPosition - The highPosition to set. - using the current servo SCALED values

setNormLowPosition

public void setNormLowPosition(int lowPosition)

Parameters:

lowPosition - The lowPosition to set. - using the current servo SCALED values

getNormHighPosition

public int getNormHighPosition()

getNormLowPosition

public int getNormLowPosition()

Parameters:

lowPosition - returned. - using the current servo SCALED values

setNormHighSpeed

public void setNormHighSpeed(int highSpeed)

Parameters:

highSpeed - The highSpeed to set. - using the current servo SCALED values

setNormLowSpeed

public void setNormLowSpeed(int lowSpeed)

Parameters:

lowSpeed - The lowSpeed to set. - using the current servo SCALED values