AnalogPrismaticLink.java

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package com.neuronrobotics.sdk.addons.kinematics;
 
import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel;
import com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener;
 
 
// TODO: Auto-generated Javadoc
public class AnalogPrismaticLink  extends AbstractPrismaticLink implements IAnalogInputListener{
    
    private AnalogInputChannel channel;
    
    public AnalogPrismaticLink(AnalogInputChannel c,LinkConfiguration conf) {
        super(conf);
        
        setAnalogChannel(c);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#cacheTargetValueDevice()
     */
    @Override
    public void cacheTargetValueDevice() {
        //ignore, input only
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flush(double)
     */
    @Override
    public void flushDevice(double time) {
        //ignore, input only
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flushAll(double)
     */
    @Override
    public void flushAllDevice(double time) {
        //ignore, input only
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
     */
    @Override
    public double getCurrentPosition() {
        int val=getChannel().getValue();
        fireLinkListener(val);
        return val;
    }
 
    public void setAnalogChannel(AnalogInputChannel channel) {
        channel.addAnalogInputListener(this);
        channel.configAdvancedAsyncNotEqual(10);
        //new RuntimeException().printStackTrace();
        this.channel = channel;
    }
 
    public AnalogInputChannel getChannel() {
        return channel;
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener#onAnalogValueChange(com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel, double)
     */
    @Override
    public void onAnalogValueChange(AnalogInputChannel chan, double value) {
        if(chan == getChannel() ) {
            fireLinkListener((int) value);
        }
    }
 
}