org.robokind.impl.motion.dynamixel
Class DynamixelController

java.lang.Object
  org.robokind.api.common.property.PropertyChangeNotifier
      org.robokind.api.motion.servos.AbstractServoController<Id,ServoConf,S,ControllerConf>
          org.robokind.impl.motion.serial.SerialServoController<DynamixelServo.Id,org.robokind.api.motion.servos.config.ServoConfig<DynamixelServo.Id>,DynamixelServo,DynamixelControllerConfig>
              org.robokind.impl.motion.dynamixel.DynamixelController

All Implemented Interfaces:

org.robokind.api.common.property.PropertyChangeSource, org.robokind.api.motion.servos.ServoController<DynamixelServo.Id,org.robokind.api.motion.servos.config.ServoConfig<DynamixelServo.Id>,DynamixelServo,DynamixelControllerConfig>

public class DynamixelController
extends org.robokind.impl.motion.serial.SerialServoController<DynamixelServo.Id,org.robokind.api.motion.servos.config.ServoConfig<DynamixelServo.Id>,DynamixelServo,DynamixelControllerConfig>

ServoController for a chain of DynamixelServos.

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

static DynamixelServo.Id	BROADCAST_ID DynamixelController broadcast id.
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.impl.motion.serial.SerialServoController

myPort, myTimeoutLength

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

DynamixelController(DynamixelControllerConfig config)
Creates a new DynamixelController from the given SerialServoControllerConfig.

Method Summary

boolean	connect()
protected DynamixelServo	connectServo(org.robokind.api.motion.servos.config.ServoConfig config)
boolean	disconnect()
protected boolean	disconnectServo(org.robokind.api.motion.servos.ServoController.ServoId<DynamixelServo.Id> id)
DynamixelControlLoop	getControlLoop()
Boolean	getEnabled()
org.robokind.impl.motion.serial.RXTXSerialPort	getPort()
Class<DynamixelServo.Id>	getServoIdClass()
boolean	moveAllServos(long lenMillisec)
boolean	moveServo(org.robokind.api.motion.servos.ServoController.ServoId<DynamixelServo.Id> id, long lenMillisec)
boolean	moveServos(org.robokind.api.motion.servos.ServoController.ServoId<DynamixelServo.Id>[] ids, int len, int offset, long lenMillisec)
boolean	ping(DynamixelServo.Id id) Pings the DynamixelServo at the given physical id.
int	readRegister(DynamixelServo.Id id, Register reg) Reads the Register value from the DynamixelServo with the given physical id.
int[]	readRegisters(DynamixelServo.Id id, Register regFirst, Register regLast) Reads the values from the Register range specified by regFirst and regLast for the DynamixelServo with the given physical id.
void	setEnabled(Boolean enabled)
protected boolean	setServos() Attempts to ping each Servo in the ServoControllerConfig.
protected boolean	writeRegister(DynamixelServo.Id id, Register reg, Integer value, Boolean deferred) Write a value to the given register for the given DynamixelServo.

Methods inherited from class org.robokind.impl.motion.serial.SerialServoController

getErrorMessages, setTimeoutLength

Methods inherited from class org.robokind.api.motion.servos.AbstractServoController

addingServo, addServo, changeServoId, containsId, containsIds, getConfig, getConnectionStatus, getId, getServo, getServos, removeServo, removingServo, servoId, setConnectStatus

Methods inherited from class org.robokind.api.common.property.PropertyChangeNotifier

addPropertyChangeListener, addPropertyChangeListener, clearAllListeners, clearListeners, fireIndexedPropertyChange, fireIndexedPropertyChange, fireIndexedPropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getPropertyChangeListeners, getPropertyChangeListeners, hasListeners, 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

Field Detail

VERSION_NAME

public static final String VERSION_NAME

Controller type version name.

See Also:

Constant Field Values

VERSION_NUMBER

public static final String VERSION_NUMBER

Controller type version number.

See Also:

Constant Field Values

VERSION

public static final org.robokind.api.common.config.VersionProperty VERSION

Controller type VersionProperty.

BROADCAST_ID

public static final DynamixelServo.Id BROADCAST_ID

DynamixelController broadcast id. This is an invalid DynamixelServo physical id, reserved to indicate the controller to the joints.

Constructor Detail

DynamixelController

public DynamixelController(DynamixelControllerConfig config)

Creates a new DynamixelController from the given SerialServoControllerConfig.

Parameters:

config - SerialServoControllerConfig for the new controller

Method Detail

setServos

protected boolean setServos()

Attempts to ping each Servo in the ServoControllerConfig. A joint is added if it responds, otherwise it is added to the UnresponsiveServos List.

Specified by:

setServos in class org.robokind.impl.motion.serial.SerialServoController<DynamixelServo.Id,org.robokind.api.motion.servos.config.ServoConfig<DynamixelServo.Id>,DynamixelServo,DynamixelControllerConfig>

Returns:

true if successful

moveServo

public boolean moveServo(org.robokind.api.motion.servos.ServoController.ServoId<DynamixelServo.Id> id,
                         long lenMillisec)

moveServos

public boolean moveServos(org.robokind.api.motion.servos.ServoController.ServoId<DynamixelServo.Id>[] ids,
                          int len,
                          int offset,
                          long lenMillisec)

moveAllServos

public boolean moveAllServos(long lenMillisec)

ping

public boolean ping(DynamixelServo.Id id)

Pings the DynamixelServo at the given physical id.

Parameters:

id - physical id of the DynamixelServo to ping

Returns:

true if the DynamixelServo responds

readRegister

public int readRegister(DynamixelServo.Id id,
                        Register reg)

Reads the Register value from the DynamixelServo with the given physical id.

Parameters:

id - physical id of the DynamixelServo to read

reg - Register to read

Returns:

unsigned value at the given register

readRegisters

public int[] readRegisters(DynamixelServo.Id id,
                           Register regFirst,
                           Register regLast)

Reads the values from the Register range specified by regFirst and regLast for the DynamixelServo with the given physical id.

Parameters:

id - physical id of the DynamixelServo to read

regFirst - first Register in the range

regLast - last Register in the range

Returns:

array of unsigned values from the Registers specified

writeRegister

protected boolean writeRegister(DynamixelServo.Id id,
                                Register reg,
                                Integer value,
                                Boolean deferred)

Write a value to the given register for the given DynamixelServo.

Parameters:

id - physical id of the DynamixelServo

reg - Register to write

value - value to write

deferred - if true, data is written but the DynamixelServo state will not change until it receives an ACTION instruction.

Returns:

true if successful

connectServo

protected DynamixelServo connectServo(org.robokind.api.motion.servos.config.ServoConfig config)

Specified by:

connectServo in class org.robokind.api.motion.servos.AbstractServoController<DynamixelServo.Id,org.robokind.api.motion.servos.config.ServoConfig<DynamixelServo.Id>,DynamixelServo,DynamixelControllerConfig>

disconnectServo

protected boolean disconnectServo(org.robokind.api.motion.servos.ServoController.ServoId<DynamixelServo.Id> id)

Specified by:

disconnectServo in class org.robokind.api.motion.servos.AbstractServoController<DynamixelServo.Id,org.robokind.api.motion.servos.config.ServoConfig<DynamixelServo.Id>,DynamixelServo,DynamixelControllerConfig>

setEnabled

public void setEnabled(Boolean enabled)

getEnabled

public Boolean getEnabled()

connect

public boolean connect()

Specified by:

connect in interface org.robokind.api.motion.servos.ServoController<DynamixelServo.Id,org.robokind.api.motion.servos.config.ServoConfig<DynamixelServo.Id>,DynamixelServo,DynamixelControllerConfig>

Overrides:

connect in class org.robokind.impl.motion.serial.SerialServoController<DynamixelServo.Id,org.robokind.api.motion.servos.config.ServoConfig<DynamixelServo.Id>,DynamixelServo,DynamixelControllerConfig>

disconnect

public boolean disconnect()

Specified by:

disconnect in interface org.robokind.api.motion.servos.ServoController<DynamixelServo.Id,org.robokind.api.motion.servos.config.ServoConfig<DynamixelServo.Id>,DynamixelServo,DynamixelControllerConfig>

Overrides:

disconnect in class org.robokind.impl.motion.serial.SerialServoController<DynamixelServo.Id,org.robokind.api.motion.servos.config.ServoConfig<DynamixelServo.Id>,DynamixelServo,DynamixelControllerConfig>

getServoIdClass

public Class<DynamixelServo.Id> getServoIdClass()

getPort

public org.robokind.impl.motion.serial.RXTXSerialPort getPort()

getControlLoop

public DynamixelControlLoop getControlLoop()