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

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

All Implemented Interfaces:

MoveParams<DynamixelServo.Id>

public class DynamixelServoCache
extends Object
implements MoveParams<DynamixelServo.Id>

Author:

Matthew Stevenson

Constructor Summary

DynamixelServoCache(DynamixelServo.Id id)

Method Summary

long	getCommandDelayMillisec() Command Delay is the estimated number of milliseconds between sending a move command and when the servo responds to the command.
long	getCurPosTimestampUTC()
int	getCurrentLoad()
int	getCurrentPosition()
int	getCurrentSpeed()
int	getCurrentTemperature()
int	getCurrentVoltage()
FeedbackUpdateValues	getFeedback()
int	getGoalPosition()
long	getGoalTargetTimeUTC()
int	getPrevGoalPosition()
long	getPrevGoalTargetTimeUTC()
DynamixelServo.Id	getServoId()
void	goalsSent()
void	setCommandDelayMillisec(long msec) Command Delay is the estimated number of milliseconds between sending a move command and when the servo responds to the command.
void	setFeedbackVals(FeedbackUpdateValues vals)
void	setGoalVals(GoalUpdateValues vals)

Methods inherited from class java.lang.Object

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

Constructor Detail

DynamixelServoCache

public DynamixelServoCache(DynamixelServo.Id id)

Method Detail

setFeedbackVals

public void setFeedbackVals(FeedbackUpdateValues vals)

setGoalVals

public void setGoalVals(GoalUpdateValues vals)

goalsSent

public void goalsSent()

Specified by:

goalsSent in interface MoveParams<DynamixelServo.Id>

getServoId

public DynamixelServo.Id getServoId()

Specified by:

getServoId in interface MoveParams<DynamixelServo.Id>

getCurrentPosition

public int getCurrentPosition()

Specified by:

getCurrentPosition in interface MoveParams<DynamixelServo.Id>

getCurrentSpeed

public int getCurrentSpeed()

Specified by:

getCurrentSpeed in interface MoveParams<DynamixelServo.Id>

getCurrentVoltage

public int getCurrentVoltage()

Specified by:

getCurrentVoltage in interface MoveParams<DynamixelServo.Id>

getCurrentTemperature

public int getCurrentTemperature()

Specified by:

getCurrentTemperature in interface MoveParams<DynamixelServo.Id>

getCurrentLoad

public int getCurrentLoad()

Specified by:

getCurrentLoad in interface MoveParams<DynamixelServo.Id>

getCommandDelayMillisec

public long getCommandDelayMillisec()

Description copied from interface: MoveParams

Command Delay is the estimated number of milliseconds between sending a move command and when the servo responds to the command.

Specified by:

getCommandDelayMillisec in interface MoveParams<DynamixelServo.Id>

getCurPosTimestampUTC

public long getCurPosTimestampUTC()

Specified by:

getCurPosTimestampUTC in interface MoveParams<DynamixelServo.Id>

getPrevGoalTargetTimeUTC

public long getPrevGoalTargetTimeUTC()

Specified by:

getPrevGoalTargetTimeUTC in interface MoveParams<DynamixelServo.Id>

getPrevGoalPosition

public int getPrevGoalPosition()

Specified by:

getPrevGoalPosition in interface MoveParams<DynamixelServo.Id>

getGoalTargetTimeUTC

public long getGoalTargetTimeUTC()

Specified by:

getGoalTargetTimeUTC in interface MoveParams<DynamixelServo.Id>

getGoalPosition

public int getGoalPosition()

Specified by:

getGoalPosition in interface MoveParams<DynamixelServo.Id>

getFeedback

public FeedbackUpdateValues getFeedback()

setCommandDelayMillisec

public void setCommandDelayMillisec(long msec)

Command Delay is the estimated number of milliseconds between sending a move command and when the servo responds to the command.

Parameters:

msec -