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java.lang.Objectorg.robokind.api.motion.AbstractRobot<ServoJoint>
org.robokind.api.motion.servos.ServoRobot
public class ServoRobot
Robot implementation using Servos.
Nested Class Summary | |
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static class |
ServoRobot.ServoControllerContext<T extends Servo<?,?>>
Contains the objects used for loading and creating a ServoController. |
Nested classes/interfaces inherited from interface org.robokind.api.motion.Robot |
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Robot.Id, Robot.JointId, Robot.RobotPositionHashMap, Robot.RobotPositionMap |
Field Summary | |
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static org.robokind.api.common.config.VersionProperty |
VERSION
Controller type VersionProperty. |
static String |
VERSION_NAME
Controller type version name. |
static String |
VERSION_NUMBER
Controller type version number. |
Fields inherited from class org.robokind.api.motion.AbstractRobot |
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myJointMap |
Fields inherited from interface org.robokind.api.motion.Robot |
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PROP_ID |
Constructor Summary | |
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ServoRobot(ServoRobotConfig config)
Creates a new ServoRobot with the given BundleContext and RobotConfig. |
Method Summary | |
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boolean |
connect()
The Robot will accept commands only after it is successfully connected. |
void |
disconnect()
Disconnect the Robot. |
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. |
Methods inherited from class org.robokind.api.motion.AbstractRobot |
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getCurrentPositions, getDefaultPositions, getGoalPositions, getJoint, getJointIds, getJointName, getJointNames, getJoints, getRobotId, isEnabled |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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public static final String VERSION_NAME
public static final String VERSION_NUMBER
public static final org.robokind.api.common.config.VersionProperty VERSION
Constructor Detail |
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public ServoRobot(ServoRobotConfig config)
config
- Robot's configuration parametersMethod Detail |
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public void setEnabled(boolean val)
AbstractRobot
setEnabled
in interface Robot
setEnabled
in class AbstractRobot<ServoJoint>
val
- enabled valuepublic boolean connect()
Robot
public void disconnect()
Robot
public boolean isConnected()
Robot
public void move(Robot.RobotPositionMap positions, long lenMillisec)
Robot
positions
- map of Joint logical ids and positionspublic Map<ServoController.Id,ServoController> getControllers()
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