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IdType
- Identifier type used by this ServoController's ServosServoType
- ServoController's Servo typeServoConf
- ServoConfig typeControllerConf
- ServoControllerConfig typepublic interface ServoController<IdType,ServoConf extends ServoConfig<IdType>,ServoType extends Servo<IdType,ServoConf>,ControllerConf extends ServoControllerConfig<IdType,ServoConf>>
A ServoController provides control of a collection of Servos and the means of directly controlling them.
Nested Class Summary | |
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static class |
ServoController.Id
Id is an immutable globally unique identifier for a ServoController. |
static class |
ServoController.ServoId<ServoIdType>
ServoId is an immutable globally unique identifier for a Servo belonging to a Controller. |
Field Summary | |
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static String |
PROP_CONNECTION_STATUS
Property string for ConnectionStatus. |
static String |
PROP_ENABLED
Property string for Enabled. |
static String |
PROP_ERROR_MESSAGES
Property string for ErrorMessages. |
static String |
PROP_SERVO_ADD
Property string for AddServo. |
static String |
PROP_SERVO_REMOVE
Property string for RemoveServo. |
static String |
PROP_SERVOS
Property string for Servos. |
static String |
PROP_VERSION
Used to specify the VersionProperty of a type of ServoController. |
Method Summary | |
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boolean |
connect()
Connects the ServoController to the underlying device to begin using. |
boolean |
containsId(ServoController.ServoId<IdType> id)
Returns true if the controller contains a Servo for the given Servo id. |
boolean |
containsIds(Set<ServoController.ServoId<IdType>> ids)
Returns true if the controller contains a Servo for each of the given Servo ids. |
boolean |
disconnect()
Disconnects the underlying device, freeing any resources that have been locked. |
ControllerConf |
getConfig()
Returns the ServoController's ServoControllerConfig. |
ConnectionStatus |
getConnectionStatus()
Return the current ConnectionStatus. |
Boolean |
getEnabled()
If enabled, this ServoController should accept move commands. |
List<String> |
getErrorMessages()
Returns the current error messages. |
ServoController.Id |
getId()
Returns the ServoController.Id identifying this ServoController. |
ServoType |
getServo(ServoController.ServoId<IdType> id)
Returns the Servo with the given id. |
Class<IdType> |
getServoIdClass()
Returns the Class of the Id used by the ServoController's Servos. |
List<ServoType> |
getServos()
Returns a List of the controller's Servos. |
boolean |
moveAllServos(long lenMillisec)
Move all of the controller's Servos. |
boolean |
moveServo(ServoController.ServoId<IdType> id,
long lenMillisec)
Move the Servo with the given Servo id to its goal position in the given time. |
boolean |
moveServos(ServoController.ServoId<IdType>[] ids,
int len,
int offset,
long lenMillisec)
Move the Servos with the given Servo ids to their goal positions. |
void |
setEnabled(Boolean enabled)
If enabled, this ServoController should accept move commands. |
Methods inherited from interface org.robokind.api.common.property.PropertyChangeSource |
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addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener |
Field Detail |
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static final String PROP_VERSION
static final String PROP_CONNECTION_STATUS
static final String PROP_ERROR_MESSAGES
static final String PROP_SERVO_ADD
static final String PROP_SERVO_REMOVE
static final String PROP_SERVOS
static final String PROP_ENABLED
Method Detail |
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ServoController.Id getId()
List<ServoType> getServos()
ServoType getServo(ServoController.ServoId<IdType> id)
id
- the Servo id
boolean containsIds(Set<ServoController.ServoId<IdType>> ids)
ids
- Set of Servo ids to check
boolean containsId(ServoController.ServoId<IdType> id)
id
- Servo id to check
boolean connect()
boolean disconnect()
boolean moveServo(ServoController.ServoId<IdType> id, long lenMillisec)
id
- Servo id of the Servo to movelenMillisec
- number of milliseconds for the movement to take
boolean moveServos(ServoController.ServoId<IdType>[] ids, int len, int offset, long lenMillisec)
ids
- Servo ids of the Servos to movelen
- number of idsoffset
- start indexlenMillisec
- number of milliseconds for the movement to take
boolean moveAllServos(long lenMillisec)
lenMillisec
- number of milliseconds for the movement to take
ConnectionStatus getConnectionStatus()
List<String> getErrorMessages()
ControllerConf getConfig()
void setEnabled(Boolean enabled)
enabled
- Boolean getEnabled()
Class<IdType> getServoIdClass()
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