PIDConfiguration.java

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package com.neuronrobotics.sdk.pid;
 
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.common.ByteList;
 
// TODO: Auto-generated Javadoc
public class PIDConfiguration {
    
    private int group=0;
    
    private boolean enabled=false;
    
    private boolean inverted=false;
    
    private boolean async=false;
    
    private double KP=.1;
    
    private double KI=0;
    
    private double KD=0;
    
    private int latch=0;
    
    private boolean useLatch=false;
    
    private boolean stopOnIndex=false;
    
    private double up=0;
    
    private double low=0;
    
    private double hStop=0;
    
    public PIDConfiguration(){
        
    }
    
    public PIDConfiguration(int channel){
        group=channel;
    }
 
    public PIDConfiguration(int group,boolean enabled,boolean inverted,boolean async,double KP,double KI,double KD, double latch, boolean useLatch, boolean stopOnLatch, double up, double low,double hStop){
        setGroup(group);
        setEnabled(enabled);
        setInverted(inverted);
        setAsync(async);
        setKP(KP);
        setKI(KI);
        setKD(KD);
        setIndexLatch((int)latch);
        setUseLatch(useLatch);
        setStopOnIndex(stopOnLatch);
        setUpperHystersys(up);
        setLowerHystersys(low);
        setHystersysStop(hStop);
        
    }
    
    public PIDConfiguration(int group,
            boolean enabled,
            boolean inverted,
            boolean async,
            double KP,double KI,double KD, 
            double latch, boolean useLatch, boolean stopOnLatch) {
        
        this(group,enabled,inverted,async,KP,KI,KD,latch,useLatch,stopOnLatch,0,0,0);
    }
    
    public PIDConfiguration(BowlerDatagram conf) {
        setGroup(   conf.getData().get(0));
        setEnabled( conf.getData().get(1)>0);
        setInverted(conf.getData().get(2)>0);
        setAsync(   conf.getData().get(3)>0);
        setKP(((double)ByteList.convertToInt(conf.getData().getBytes(4, 4),false))/100);
        setKI(((double)ByteList.convertToInt(conf.getData().getBytes(8, 4),false))/100);
        setKD(((double)ByteList.convertToInt(conf.getData().getBytes(12, 4),false))/100);
        try{
            setIndexLatch(((int)ByteList.convertToInt(conf.getData().getBytes(16, 4),true)));
            setUseLatch(conf.getData().getBytes(20, 1)[0]>0);
            setStopOnIndex(conf.getData().getBytes(21, 1)[0]>0);
            
            setHystersysStop(((double)ByteList.convertToInt(conf.getData().getBytes(22, 4),true))/1000);
            setUpperHystersys(((double)ByteList.convertToInt(conf.getData().getBytes(26, 4),true))/1000);
            setLowerHystersys(((double)ByteList.convertToInt(conf.getData().getBytes(30, 4),true))/1000);
            
        }catch(Exception e){
            System.err.println("No latch value sent");
        }
    }
    
    
    public PIDConfiguration(Object [] args) {
        setGroup((Integer) args[0]);
        setEnabled((Integer) args[1]==1?true:false);
        setInverted((Integer) args[2]==1?true:false);
        setAsync((Integer) args[3]==1?true:false);
        setKP((Double) args[4]);
        setKI((Double) args[5]);
        setKD((Double) args[6]);
        setIndexLatch((Integer) args[7]);
        setUseLatch((Integer) args[8]==1?true:false);
        setStopOnIndex((Integer) args[9]==1?true:false);
        setHystersysStop((Double) args[10]);
        setUpperHystersys((Double) args[11]);
        setLowerHystersys((Double) args[12]);
 
    }
    
 
    /* (non-Javadoc)
     * @see java.lang.Object#toString()
     */
    @Override
    public String toString(){
        String s="PID configuration group #"+getGroup();
        s+="\n\tConstants: P="+getKP()+" I="+getKI()+" D="+getKD();
        s+="\n\tEnabled = "+isEnabled();
        s+="\n\tAsync = "+isAsync();
        s+="\n\tInverted = "+isInverted();
        s+="\n\tUse Latch  "+ isUseLatch();
        s+="\n\tStop on Index  "+ isStopOnIndex();
        s+="\n\tLatch value "+getIndexLatch();
        s+="\n\tCenter Stop "+getHystersysStop();
        s+="\n\tUpper Hysterysys "+getUpperHystersys();
        s+="\n\tLower Hysterysys "+getLowerHystersys();
        return s;
    }
    
    public void setGroup(int group) {
        this.group = group;
    }
    
    public int getGroup() {
        return group;
    }
    
    public void setEnabled(boolean enabled) {
        this.enabled = enabled;
    }
    
    public boolean isEnabled() {
        return enabled;
    }
    
    public void setInverted(boolean inverted) {
        this.inverted = inverted;
    }
    
    public boolean isInverted() {
        return inverted;
    }
    
    public void setAsync(boolean async) {
        this.async = async;
    }
    
    public boolean isAsync() {
        return async;
    }
    
    public void setKP(double kP) {
        KP = kP;
    }
    
    public double getKP() {
        return KP;
    }
    
    public void setKI(double kI) {
        KI = kI;
    }
    
    public double getKI() {
        return KI;
    }
    
    public void setKD(double kD) {
        KD = kD;
    }
    
    public double getKD() {
        return KD;
    }
    
    public double getIndexLatch() {
        return latch;
    }
    
    public void setIndexLatch(double latch) {
        this.latch=(int) latch;
    }
    
    public void setUseLatch(boolean useLatch) {
        this.useLatch = useLatch;
    }
    
    public boolean isUseLatch() {
        return useLatch;
    }
    
    public void setStopOnIndex(boolean stopOnIndex) {
        this.stopOnIndex = stopOnIndex;
    }
    
    public boolean isStopOnIndex() {
        return stopOnIndex;
    }
    
    public Object[] getArgs() {
        Object[] args = new Object[]{
        group,
        enabled?1:0,
        inverted?1:0,
        async?1:0,
        KP,
        KI,
        KD,
        latch,
        useLatch?1:0,
        stopOnIndex?1:0,
        hStop,
        up,
        low             
        };
        return args;
    }
    
    public double getUpperHystersys(){
        return up;
    }
 
    public void setUpperHystersys(double up) {
        this.up = up;       
    }
    
    public double getLowerHystersys(){
        return low;
    }
 
    public void setLowerHystersys(double low) {
        this.low = low;         
    }
    
    public double getHystersysStop(){
        return hStop;
    }
 
    public void setHystersysStop(double hStop) {
        this.hStop = hStop;     
    }
}