org.robokind.api.motion.servos.utils
Class EmptyServoJoint

java.lang.Object
  extended by org.robokind.api.common.property.PropertyChangeNotifier
      extended by org.robokind.api.motion.AbstractJoint
          extended by org.robokind.api.motion.servos.ServoJoint
              extended by org.robokind.api.motion.servos.utils.EmptyServoJoint
All Implemented Interfaces:
PropertyChangeListener, EventListener, org.robokind.api.common.property.PropertyChangeSource, Joint

public class EmptyServoJoint
extends ServoJoint

An Empty implementation of a ServoJoint, used for missing Servos.

Author:
Matthew Stevenson

Nested Class Summary
 
Nested classes/interfaces inherited from interface org.robokind.api.motion.Joint
Joint.Id
 
Field Summary
 
Fields inherited from class org.robokind.api.motion.servos.ServoJoint
myServo
 
Fields inherited from class org.robokind.api.motion.AbstractJoint
myProperties
 
Fields inherited from interface org.robokind.api.motion.Joint
PROP_ENABLED, PROP_GOAL_POSITION
 
Constructor Summary
EmptyServoJoint(Joint.Id jointId, String name, org.robokind.api.common.position.NormalizedDouble defPos)
          Creates a new EmptyServoJoint with the given properties.
 
Method Summary
 org.robokind.api.common.position.NormalizedDouble getDefaultPosition()
          Returns the Joint's default position.
 Boolean getEnabled()
          If enabled, this Joint will accept move commands.
 org.robokind.api.common.position.NormalizedDouble getGoalPosition()
          Returns the goal position.
 String getName()
          Returns the name of the Joint.
 void setEnabled(Boolean enabled)
          If enabled, this Joint will accept move commands.
protected  void setGoalPosition(org.robokind.api.common.position.NormalizedDouble pos)
          Allows a ServoRobot to set the goal position.
 
Methods inherited from class org.robokind.api.motion.AbstractJoint
addProperty, getId, getProperty, getProperty, propertyChange, removeProperty
 
Methods inherited from class org.robokind.api.common.property.PropertyChangeNotifier
addPropertyChangeListener, addPropertyChangeListener, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, removePropertyChangeListener, removePropertyChangeListener
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 
Methods inherited from interface org.robokind.api.common.property.PropertyChangeSource
addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener
 

Constructor Detail

EmptyServoJoint

public EmptyServoJoint(Joint.Id jointId,
                       String name,
                       org.robokind.api.common.position.NormalizedDouble defPos)
Creates a new EmptyServoJoint with the given properties.

Parameters:
jointId - Joint.Id of the Joint
name - name of the Joint
defPos - default position of the Joint
Method Detail

getName

public String getName()
Description copied from interface: Joint
Returns the name of the Joint.

Specified by:
getName in interface Joint
Overrides:
getName in class ServoJoint
Returns:
name of the Joint

getDefaultPosition

public org.robokind.api.common.position.NormalizedDouble getDefaultPosition()
Description copied from interface: Joint
Returns the Joint's default position.

Specified by:
getDefaultPosition in interface Joint
Overrides:
getDefaultPosition in class ServoJoint
Returns:
Joint's default position

setEnabled

public void setEnabled(Boolean enabled)
Description copied from interface: Joint
If enabled, this Joint will accept move commands. If not enabled, this joint should not move.

Specified by:
setEnabled in interface Joint
Overrides:
setEnabled in class ServoJoint

getEnabled

public Boolean getEnabled()
Description copied from interface: Joint
If enabled, this Joint will accept move commands. If not enabled, this joint should not move.

Specified by:
getEnabled in interface Joint
Overrides:
getEnabled in class ServoJoint
Returns:
true if enabled

getGoalPosition

public org.robokind.api.common.position.NormalizedDouble getGoalPosition()
Description copied from interface: Joint
Returns the goal position.

Specified by:
getGoalPosition in interface Joint
Overrides:
getGoalPosition in class ServoJoint
Returns:
goal position

setGoalPosition

protected void setGoalPosition(org.robokind.api.common.position.NormalizedDouble pos)
Allows a ServoRobot to set the goal position.

Overrides:
setGoalPosition in class ServoJoint
Parameters:
pos - goal position to set


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