PIDChannel.java

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package com.neuronrobotics.sdk.pid;
 
import java.util.ArrayList;
 
import com.neuronrobotics.sdk.common.Log;
import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace;
 
// TODO: Auto-generated Javadoc
public class PIDChannel {
    
    private IPidControlNamespace pid;
    
    private int index;
    
    private float targetValue;
    
    private float currentCachedPosition;
    
    private ArrayList<IPIDEventListener> PIDEventListeners = new ArrayList<IPIDEventListener>();
    
    public PIDChannel(IPidControlNamespace p, int i) {
        setPid(p);
        index=i;
    }
 
    public boolean SetPIDSetPoint(float setpoint,double seconds){
        
        return getPid().SetPIDSetPoint(index, setpoint, seconds);
    }
    
    public boolean SetPIDInterpolatedVelocity( int unitsPerSecond, double seconds) throws PIDCommandException {
        return getPid().SetPIDInterpolatedVelocity(index, unitsPerSecond, seconds);
    }
    
    public boolean SetPDVelocity( int unitsPerSecond, double seconds) throws PIDCommandException {
        return getPid().SetPDVelocity(index, unitsPerSecond, seconds);
    }
    
    public float GetPIDPosition() {
        return getPid().GetPIDPosition(index);
    }
    
    public boolean ConfigurePIDController(PIDConfiguration config) {
        config.setGroup(index);
        return getPid().ConfigurePIDController(config);
    }
 
    
    public PIDConfiguration getPIDConfiguration() {
        return getPid().getPIDConfiguration(index);
    }
    
    public boolean ResetPIDChannel() {
        return getPid().ResetPIDChannel(index,0);
    }
 
    
    public boolean ResetPIDChannel( int valueToSetCurrentTo) {
        return getPid().ResetPIDChannel(index,valueToSetCurrentTo);
    }
 
    public void setPid(IPidControlNamespace p) {
        pid = p;
        pid.addPIDEventListener(new IPIDEventListener() {
            @Override
            public void onPIDReset(int group, float currentValue) {
                if(group==index){
                    firePIDResetEvent(index, currentValue);
                }
            }
            
            @Override
            public void onPIDLimitEvent(PIDLimitEvent e) {
                if(e.getGroup()==index){
                    firePIDLimitEvent(e);
                }
            }
            
            @Override
            public void onPIDEvent(PIDEvent e) {
                if(e.getGroup()==index){
                    firePIDEvent(e);
                }
            }
        });
    }
 
 
    public IPidControlNamespace getPid() {
        return pid;
    }
    
    public void removePIDEventListener(IPIDEventListener l) {
            if(PIDEventListeners.contains(l))
                PIDEventListeners.remove(l);
        
    }
    
    public void addPIDEventListener(IPIDEventListener l) {
            if(!PIDEventListeners.contains(l))
                PIDEventListeners.add(l);
        
    }
    
    public void firePIDLimitEvent(PIDLimitEvent e){
        for (int i=0;i<PIDEventListeners.size();i++){
            PIDEventListeners.get(i).onPIDLimitEvent(e);
        }
    }
    
    public void firePIDEvent(PIDEvent e){
        for (int i=0;i<PIDEventListeners.size();i++){
            
            PIDEventListeners.get(i).onPIDEvent(e);
        }
    }
    
    public void firePIDResetEvent(int group,float value){
        for (int i=0;i<PIDEventListeners.size();i++){
            PIDEventListeners.get(i).onPIDReset(group,value);
        }
    }
 
    public void flush(double time){
        SetPIDSetPoint(getCachedTargetValue(),time);
    }
 
    public void setCachedTargetValue(float targetValue) {       
        if(new Double(targetValue).isNaN()) {
            new RuntimeException("Setpoint in can not be set to nan").printStackTrace();
        }else {
            Log.info("Cacheing PID position group="+getGroup()+", setpoint="+targetValue+" ticks");
            this.targetValue = targetValue;
        }
    }
    
    public float getCachedTargetValue() {
        return targetValue;
    }
 
 
 
    public void setCurrentCachedPosition(float currentCachedPosition) {
        this.currentCachedPosition = currentCachedPosition;
    }
 
 
 
    public float getCurrentCachedPosition() {
        return currentCachedPosition;
    }
 
    public boolean isAvailable() {
        // TODO Auto-generated method stub
        return pid.isAvailable();
    }
 
    public int getGroup() {
        // TODO Auto-generated method stub
        return index;
    }
    
}