org.robokind.impl.motion.dynamixel.feedback
Class DynamixelControlLoop

java.lang.Object
  org.robokind.impl.motion.dynamixel.feedback.DynamixelControlLoop

public class DynamixelControlLoop
extends Object

Author:

Matthew Stevenson

Nested Class Summary

static class	DynamixelControlLoop.DynamixelCommand
static class	DynamixelControlLoop.PacketCallback

Constructor Summary

DynamixelControlLoop(DynamixelController controller, DynamixelControlSettings settings)

Method Summary

boolean	command()
boolean	commandBoth()
DynamixelControlSettings	getSettings()
void	queueCommand(DynamixelControlLoop.DynamixelCommand cmd)
void	setGoalPositions(Collection<GoalUpdateValues<DynamixelServo.Id>> goals)
void	setOpenServoLoop(OpenServoControlLoop loop)
void	start(List<DynamixelServo.Id> ids)
void	stop()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DynamixelControlLoop

public DynamixelControlLoop(DynamixelController controller,
                            DynamixelControlSettings settings)

Method Detail

setOpenServoLoop

public void setOpenServoLoop(OpenServoControlLoop loop)

getSettings

public DynamixelControlSettings getSettings()

setGoalPositions

public void setGoalPositions(Collection<GoalUpdateValues<DynamixelServo.Id>> goals)

start

public void start(List<DynamixelServo.Id> ids)

stop

public void stop()

queueCommand

public void queueCommand(DynamixelControlLoop.DynamixelCommand cmd)

commandBoth

public boolean commandBoth()

command

public boolean command()