org.mechio.api.motion.servos
Interface Servo<Id,Conf extends ServoConfig>

Type Parameters:

Id - Id Type used by the Servo

Conf - ServoConfig type for this Servo

All Superinterfaces:

org.jflux.api.common.rk.property.PropertyChangeSource

All Known Implementing Classes:

AbstractServo

public interface Servo<Id,Conf extends ServoConfig>
extends org.jflux.api.common.rk.property.PropertyChangeSource

A Servo provides control of a physical servo belonging to a servo control board.

Author:

Matthew Stevenson

Field Summary

static java.lang.String	PROP_ENABLED Property string for Enabled.
static java.lang.String	PROP_GOAL_POSITION Property string for GoalPostion.

Method Summary

Conf	getConfig() Returns the Servo's configuration values.
ServoController	getController() Returns the Servo's parent ServoController.
org.jflux.api.common.rk.position.NormalizedDouble	getDefaultPosition() Returns the Servo default position.
java.lang.Boolean	getEnabled() If enabled, this Servo will accept move commands.
org.jflux.api.common.rk.position.NormalizedDouble	getGoalPosition() Returns the goal position.
Id	getId() Returns the Servo's id.
int	getMaxPosition() Returns the Servo maximum position.
int	getMinPosition() Returns the Servo minimum position.
java.lang.String	getName() Returns the Servo name.
org.jflux.api.common.rk.position.NormalizableRange<java.lang.Double>	getPositionRange() Returns the NormalizableRange describing the range of motion.
void	setEnabled(java.lang.Boolean enabled) Sets the enabled value for this Servo
void	setGoalPosition(org.jflux.api.common.rk.position.NormalizedDouble pos) Sets the goal position.

Methods inherited from interface org.jflux.api.common.rk.property.PropertyChangeSource

addPropertyChangeListener, addPropertyChangeListener, removePropertyChangeListener, removePropertyChangeListener

Field Detail

PROP_GOAL_POSITION

static final java.lang.String PROP_GOAL_POSITION

Property string for GoalPostion.

See Also:

Constant Field Values

PROP_ENABLED

static final java.lang.String PROP_ENABLED

Property string for Enabled.

See Also:

Constant Field Values

Method Detail

getId

Id getId()

Returns the Servo's id.

Returns:

Servo's id

getGoalPosition

org.jflux.api.common.rk.position.NormalizedDouble getGoalPosition()

Returns the goal position.

Returns:

current goal position

setGoalPosition

void setGoalPosition(org.jflux.api.common.rk.position.NormalizedDouble pos)

Sets the goal position.

Parameters:

pos - the goal position

getConfig

Conf getConfig()

Returns the Servo's configuration values.

Returns:

Servo's configuration values

getController

ServoController getController()

Returns the Servo's parent ServoController.

Returns:

Servo's parent ServoController

getEnabled

java.lang.Boolean getEnabled()

If enabled, this Servo will accept move commands. If not enabled, this Servo should not move.

Returns:

true if enabled

setEnabled

void setEnabled(java.lang.Boolean enabled)

Sets the enabled value for this Servo

Parameters:

enabled - enabled value

getName

java.lang.String getName()

Returns the Servo name.

Returns:

Servo name

getMinPosition

int getMinPosition()

Returns the Servo minimum position.

Returns:

Servo minimum position

getMaxPosition

int getMaxPosition()

Returns the Servo maximum position.

Returns:

Servo maximum position

getDefaultPosition

org.jflux.api.common.rk.position.NormalizedDouble getDefaultPosition()

Returns the Servo default position.

Returns:

Servo default position

getPositionRange

org.jflux.api.common.rk.position.NormalizableRange<java.lang.Double> getPositionRange()

Returns the NormalizableRange describing the range of motion.

Returns:

NormalizableRange describing the range of motion