org.robokind.impl.motion.serial
Class SerialServoController<Id,ServoConf extends org.robokind.api.motion.servos.config.ServoConfig<Id>,S extends org.robokind.api.motion.servos.Servo<Id,ServoConf>,ControllerConf extends SerialServoControllerConfig<Id,ServoConf>>

java.lang.Object
  extended by org.robokind.api.common.property.PropertyChangeNotifier
      extended by org.robokind.api.motion.servos.AbstractServoController<Id,ServoConf,S,ControllerConf>
          extended by org.robokind.impl.motion.serial.SerialServoController<Id,ServoConf,S,ControllerConf>
Type Parameters:
J - type of Servo
All Implemented Interfaces:
org.robokind.api.common.property.PropertyChangeSource, org.robokind.api.motion.servos.ServoController<Id,ServoConf,S,ControllerConf>

public abstract class SerialServoController<Id,ServoConf extends org.robokind.api.motion.servos.config.ServoConfig<Id>,S extends org.robokind.api.motion.servos.Servo<Id,ServoConf>,ControllerConf extends SerialServoControllerConfig<Id,ServoConf>>
extends org.robokind.api.motion.servos.AbstractServoController<Id,ServoConf,S,ControllerConf>

Abstract ServoController which communicates with a Serial Port.

Author:
Matthew Stevenson

Nested Class Summary
 
Nested classes/interfaces inherited from interface org.robokind.api.motion.servos.ServoController
org.robokind.api.motion.servos.ServoController.Id, org.robokind.api.motion.servos.ServoController.ServoId<ServoIdType>
 
Field Summary
protected  RXTXSerialPort myPort
          Underlying serial port.
protected  int myTimeoutLength
          Port timeout length.
 
Fields inherited from class org.robokind.api.motion.servos.AbstractServoController
myChangeMonitor, myConfig, myConnectionStatus, myServoMap, myServos
 
Fields inherited from interface org.robokind.api.motion.servos.ServoController
PROP_CONNECTION_STATUS, PROP_ENABLED, PROP_ERROR_MESSAGES, PROP_SERVO_ADD, PROP_SERVO_REMOVE, PROP_SERVOS, PROP_VERSION
 
Constructor Summary
SerialServoController(ControllerConf config)
          Creates a new SerialServoController from the SerialServoControllerConfig.
 
Method Summary
 boolean connect()
           
 boolean disconnect()
           
 List<String> getErrorMessages()
           
protected abstract  boolean setServos()
          Sets the Servo List and Servo Map of the underlying AbstractServoController.
 void setTimeoutLength(int timeout)
          Sets the port timeout length.
 
Methods inherited from class org.robokind.api.motion.servos.AbstractServoController
addingServo, addServo, changeServoId, connectServo, containsId, containsIds, disconnectServo, getConfig, getConnectionStatus, getId, getServo, getServos, removeServo, removingServo, servoId, setConnectStatus
 
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.motion.servos.ServoController
getEnabled, getServoIdClass, moveAllServos, moveServo, moveServos, setEnabled
 
Methods inherited from interface org.robokind.api.common.property.PropertyChangeSource
addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener
 

Field Detail

myPort

protected RXTXSerialPort myPort
Underlying serial port.


myTimeoutLength

protected int myTimeoutLength
Port timeout length.

Constructor Detail

SerialServoController

public SerialServoController(ControllerConf config)
Creates a new SerialServoController from the SerialServoControllerConfig.

Parameters:
config - ControllerConfig for the new controller
Method Detail

setTimeoutLength

public void setTimeoutLength(int timeout)
Sets the port timeout length.

Parameters:
timeout - timeout length in milliseconds

connect

public boolean connect()

setServos

protected abstract boolean setServos()
Sets the Servo List and Servo Map of the underlying AbstractServoController.

Returns:
true if successful

disconnect

public boolean disconnect()

getErrorMessages

public List<String> getErrorMessages()


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