MockRotoryLink.java

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package com.neuronrobotics.sdk.addons.kinematics;
 
// TODO: Auto-generated Javadoc
public class MockRotoryLink extends AbstractRotoryLink {
    
    double val=0;
    
    public MockRotoryLink(LinkConfiguration conf) {
        super(conf);
        setHome(0);
        setLowerLimit(-355);
        setUpperLimit(355);
        setScale(Math.PI/180);
        setTargetValue(35);
        conf.setPauseEvents(true);
        conf.setDeviceTheoreticalMax(Integer.MAX_VALUE);
        conf.setDeviceTheoreticalMin(Integer.MIN_VALUE);
        conf.setPauseEvents(false);
        }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#cacheTargetValueDevice()
     */
    @Override
    public void cacheTargetValueDevice() {
        val=getTargetValue();
        //System.out.println("Cacheing value="+val);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flush(double)
     */
    @Override
    public void flushDevice(double time) {
        val=getTargetValue();
        //System.out.println("Flushing value="+val);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
     */
    @Override
    public double getCurrentPosition() {
        // TODO Auto-generated method stub
        return 35;
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flushAll(double)
     */
    @Override
    public void flushAllDevice(double time) {
        // TODO Auto-generated method stub
        val=getTargetValue();
        //System.out.println("Flushing all Values");
    }
 
}