org.robokind.impl.motion.dynamixel.enums
Enum Instruction

java.lang.Object
  java.lang.Enum<Instruction>
      org.robokind.impl.motion.dynamixel.enums.Instruction

All Implemented Interfaces:

Serializable, Comparable<Instruction>

public enum Instruction
extends Enum<Instruction>

Instructions expected by a DynamixelJoint.

Author:

Matthew Stevenson

Enum Constant Summary

Action
Updates DynamixelJoint with new Register values set using the RegWrite Instruction.

Ping
Pings a DynamixelJoint to ensure it is available.

ReadData
Reads Register data from a DynamixelJoint.

RegWrite
Write data to a Register for a DynamixelJoint, but delays updating the DynamixelJoint until an Action Instruction is sent.

Reset
Resets the DynamixelJoint to the default factory settings.

SyncWrite
Write data to a range of Registers for multiple DynamixelJoints simultaneously.

WriteData
Writes data to a Register for a DynamixelJoint.

Method Summary

static Instruction	get(Byte b) Returns the Instruction with the given byte value.
byte	getByte() Return the byte value for the given Instruction.
static Instruction	valueOf(String name) Returns the enum constant of this type with the specified name.
static Instruction[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

Ping

public static final Instruction Ping

Pings a DynamixelJoint to ensure it is available. Does not change the DynamixelJoint's state.

ReadData

public static final Instruction ReadData

Reads Register data from a DynamixelJoint.

WriteData

public static final Instruction WriteData

Writes data to a Register for a DynamixelJoint.

RegWrite

public static final Instruction RegWrite

Write data to a Register for a DynamixelJoint, but delays updating the DynamixelJoint until an Action Instruction is sent.

Action

public static final Instruction Action

Updates DynamixelJoint with new Register values set using the RegWrite Instruction.

Reset

public static final Instruction Reset

Resets the DynamixelJoint to the default factory settings. WARNING! USE THIS INSTRUCTION WITH CAUTION. THIS WILL CAUSE THE JOINT'S PHYSICAL ID AND BAUD RATE TO CHANGE. This Instruction should NOT be used with robots from HansonRobokind as it will cause the Joint to stop functioning properly. This is included only to provide complete Dynamixel functionality for use in other applications.

SyncWrite

public static final Instruction SyncWrite

Write data to a range of Registers for multiple DynamixelJoints simultaneously.

Method Detail

values

public static Instruction[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (Instruction c : Instruction.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static Instruction valueOf(String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum type has no constant with the specified name

NullPointerException - if the argument is null

getByte

public byte getByte()

Return the byte value for the given Instruction.

Returns:

byte value for the given Instruction

get

public static Instruction get(Byte b)

Returns the Instruction with the given byte value.

Parameters:

b - byte value of Instruction

Returns:

Instruction with the given byte value