PidRotoryLink.java

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package com.neuronrobotics.sdk.addons.kinematics;
 
import com.neuronrobotics.sdk.pid.IPIDEventListener;
import com.neuronrobotics.sdk.pid.PIDChannel;
import com.neuronrobotics.sdk.pid.PIDEvent;
import com.neuronrobotics.sdk.pid.PIDLimitEvent;
 
// TODO: Auto-generated Javadoc
public class PidRotoryLink extends AbstractRotoryLink{
    
    private PIDChannel channel;
    
    public PidRotoryLink(PIDChannel c,LinkConfiguration conf, boolean b) {
        super(conf);
        if(!b) {
            conf.setPauseEvents(true);
            conf.setDeviceTheoreticalMax(Integer.MAX_VALUE);
            conf.setDeviceTheoreticalMin(Integer.MIN_VALUE);
            conf.setPauseEvents(false);
        }else {
//          conf.setDeviceTheoreticalMax(conf.getUpperLimit());
//          conf.setDeviceTheoreticalMin(conf.getLowerLimit());
        }
        setPIDChannel(c);
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#cacheTargetValueDevice()
     */
    @Override
    public void cacheTargetValueDevice() {
        channel.setCachedTargetValue((float)getTargetValue());
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flush(double)
     */
    @Override
    public void flushDevice(double time) {
        channel.flush(time);
        fireLinkListener(getCurrentPosition());
    }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flushAll(double)
     */
    @Override
    public void flushAllDevice(double time) {
        channel.getPid().flushPIDChannels(time);
        fireLinkListener(getCurrentPosition());
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
     */
    @Override
    public double getCurrentPosition() {
        float val=channel.GetPIDPosition();
        
        return val;
    }
 
    public void setPIDChannel(PIDChannel channel) {
        channel.addPIDEventListener(new IPIDEventListener() {
            @Override
            public void onPIDReset(int group, float currentValue) {
                fireLinkListener(currentValue);
            }
            
            @Override
            public void onPIDLimitEvent(PIDLimitEvent e) {
                fireLinkLimitEvent(e);
            }
            
            @Override
            public void onPIDEvent(PIDEvent e) {
                //Log.debug("\nRotory Link Async<<"+e);
                fireLinkListener(e.getValue());
            }
        });
        this.channel = channel;
    }
 
    public PIDChannel getPIDChannel() {
        return channel;
    }
 
}