Inheritance diagram for com.neuronrobotics.sdk.dyio.DyIO:

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Collaboration diagram for com.neuronrobotics.sdk.dyio.DyIO:

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Public Member Functions
	DyIO ()

	DyIO (MACAddress address)

	DyIO (BowlerAbstractConnection connection)

	DyIO (MACAddress address, BowlerAbstractConnection connection)

DyIOChannel	getChannel (int channel)

Object[]	send (String NS, BowlerMethod method, String rpcString, Object[] arguments)

boolean	setMode (int channel, DyIOChannelMode mode)

boolean	setMode (int channel, DyIOChannelMode mode, boolean async)

DyIOChannelMode	getMode (int channel)

boolean	setValue (int channel, int value)

boolean	setValue (int channel, ByteList value)

boolean	setValue (int channel, java.math.BigDecimal value)

int	getValue (int channel)

String	getInfo ()

void	setInfo (String info)

byte[]	getFirmwareRev ()

String	getFirmwareRevString ()

ArrayList< DyIOChannel >	getChannels ()

void	resync (int channel)

void	checkFirmwareRev () throws DyIOFirmwareOutOfDateException

ArrayList< DyIOChannelMode >	getAllChannelModes ()

boolean	resync ()

void	addDyIOEventListener (IDyIOEventListener l)

void	removeDyIOEventListener (IDyIOEventListener l)

void	removeAllDyIOEventListeners ()

void	fireDyIOEvent (IDyIOEvent e)

boolean	getCachedMode ()

void	setCachedMode (boolean mode)

void	flushCache (double seconds)

boolean	isAvailable () throws InvalidConnectionException

DyIOPowerState	getBankAState ()

DyIOPowerState	getBankBState ()

double	getBatteryVoltage (boolean refresh)

void	onAsyncResponse (BowlerDatagram data)

boolean	ConfigureDynamicPIDChannels (DyPIDConfiguration config)

DyPIDConfiguration	getDyPIDConfiguration (int group)

boolean	ResetPIDChannel (int group, float valueToSetCurrentTo)

boolean	ResetPIDChannel (int group)

boolean	SetPIDSetPoint (int group, float setpoint, double seconds)

boolean	SetAllPIDSetPoint (float[]setpoints, double seconds)

float	GetPIDPosition (int group)

float[]	GetAllPIDPosition ()

boolean	ConfigurePIDController (PIDConfiguration config)

PIDConfiguration	getPIDConfiguration (int group)

void	addPIDEventListener (IPIDEventListener l)

void	removePIDEventListener (IPIDEventListener l)

void	flushPIDChannels (double time)

PIDChannel	getPIDChannel (int group)

boolean	SetPIDInterpolatedVelocity (int group, int unitsPerSecond, double seconds) throws PIDCommandException

boolean	SetPDVelocity (int group, int unitsPerSecond, double seconds) throws PIDCommandException

boolean	killAllPidGroups ()

boolean	configAdvancedAsyncNotEqual (int pin)

boolean	configAdvancedAsyncDeadBand (int pin, int deadbandSize)

boolean	configAdvancedAsyncTreshhold (int pin, int threshholdValue, AsyncThreshholdEdgeType edgeType)

boolean	configAdvancedAsyncAutoSample (int pin)

boolean	configAdvancedAsyncNotEqual (int pin, int time)

boolean	configAdvancedAsyncDeadBand (int pin, int time, int deadbandSize)

boolean	configAdvancedAsyncTreshhold (int pin, int time, int threshholdValue, AsyncThreshholdEdgeType edgeType)

boolean	configAdvancedAsyncAutoSample (int pin, int time)

boolean	connect ()

void	startHeartBeat (long msHeartBeatTime)

int	getHeartBeatTime ()

void	stopHeartBeat ()

boolean	setServoPowerSafeMode (boolean enable)

Boolean	isServoPowerSafeMode ()

void	setMuteResyncOnModeChange (boolean muteResyncOnModeChange)

boolean	isMuteResyncOnModeChange ()

void	onDisconnect (BowlerAbstractConnection source)

void	onConnect (BowlerAbstractConnection source)

void	setResyncing (boolean resyncing)

boolean	isResyncing ()

String	toString ()

int[]	getAllChannelValues ()

boolean	ConfigurePDVelovityController (PDVelocityConfiguration config)

PDVelocityConfiguration	getPDVelocityConfiguration (int group)

int	getPIDChannelCount ()

Integer	getDyIOChannelCount ()

ArrayList< DyIOChannelMode >	getAvailibleChannelModes (int channel)

GenericPIDDevice	getPid ()

boolean	isLegacyParser ()

void	setLegacyParser (boolean legacyParser)

void	flush (double seconds)

Public Member Functions inherited from com.neuronrobotics.sdk.common.BowlerAbstractDevice
void	addConnectionEventListener (final IDeviceConnectionEventListener l)

void	removeConnectionEventListener (IDeviceConnectionEventListener l)

void	setConnection (BowlerAbstractConnection connection)

void	disconnect ()

BowlerAbstractConnection	getConnection ()

void	setAddress (MACAddress address)

MACAddress	getAddress ()

BowlerDatagram	send (BowlerAbstractCommand command) throws NoConnectionAvailableException, InvalidResponseException

BowlerDatagram	send (BowlerAbstractCommand command, int retry) throws NoConnectionAvailableException, InvalidResponseException

Object[]	send (String namespace, BowlerMethod method, String rpcString, Object[] arguments, int retry) throws DeviceConnectionException

boolean	ping ()

boolean	ping (boolean switchParser)

ArrayList< ByteList >	getRevisions ()

ArrayList< String >	getNamespaces ()

boolean	hasNamespace (String string)

void	startHeartBeat ()

void	setThreadedUpstreamPackets (boolean up)

ArrayList< RpcEncapsulation >	getRpcList (String namespace)

void	loadRpcList ()

void	onAllResponse (BowlerDatagram data)

boolean	isKeepAlive ()

void	setKeepAlive (boolean keepAlive)

long	getLastPacketTime ()

void	setLastPacketTime (long lastPacketTime)

String	getScriptingName ()

void	setScriptingName (String scriptingName)

ArrayList< IDeviceConnectionEventListener >	getDisconnectListeners ()

Static Public Member Functions
static void	disableFWCheck ()

static void	enableFWCheck ()

Protected Member Functions
void	validateChannel (int channel)

Protected Member Functions inherited from com.neuronrobotics.sdk.common.BowlerAbstractDevice
void	fireDisconnectEvent ()

void	fireConnectEvent ()

Private Member Functions
boolean	haveFirmware ()

void	powerEvent (BowlerDatagram data)

ArrayList< DyIOChannel >	getInternalChannels ()

Private Attributes
ArrayList< IDyIOEventListener >	listeners = new ArrayList<IDyIOEventListener>()

ArrayList< DyIOChannel >	channels = new ArrayList<DyIOChannel>()

byte[]	firmware = {0, 0, 0}

String	info = "DyIO"

DyIOPowerState	bankAState

DyIOPowerState	bankBState

double	batteryVoltage = 0

boolean	cachedMode =false

boolean	muteResyncOnModeChange =false

boolean	resyncing = false

boolean	haveBeenSynced =false

boolean	legacyParser = false

Boolean	enableBrownOut =null

GenericPIDDevice	pid = new GenericPIDDevice()

Integer	dyioChanCount = null

Static Private Attributes
static final String	NEURONROBOTICS_DYIO_1_0 = "neuronrobotics.dyio.*;1.0"

static boolean	checkFirmware =false

Detailed Description

The DyIO class is an encapsulation of all of the functionality of the DyIO module into one object. This object has one connection to one DyIO module and wraps all of the commands in an accessible API.

Author: Kevin Harrington, Robert Breznak

Definition at line 60 of file DyIO.java.

Constructor & Destructor Documentation

◆ DyIO() [1/4]

com.neuronrobotics.sdk.dyio.DyIO.DyIO ( )

Default Constructor. Builds a generic DyIO that has the default broadcast address and no default connection.

Definition at line 113 of file DyIO.java.

References com.neuronrobotics.sdk.common.MACAddress.BROADCAST, com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.common.BowlerAbstractDevice.setAddress().

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◆ DyIO() [2/4]

com.neuronrobotics.sdk.dyio.DyIO.DyIO ( MACAddress address )

Builds a DyIO that has the given address and no default connection.

Parameters

address the address

Definition at line 123 of file DyIO.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.address, com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.common.BowlerAbstractDevice.setAddress().

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◆ DyIO() [3/4]

com.neuronrobotics.sdk.dyio.DyIO.DyIO ( BowlerAbstractConnection connection )

Builds a DyIO with the given connection and the broadcast address.

Parameters

connection the connection

Definition at line 133 of file DyIO.java.

References com.neuronrobotics.sdk.common.MACAddress.BROADCAST, com.neuronrobotics.sdk.common.BowlerAbstractDevice.connection, com.neuronrobotics.sdk.dyio.DyIO.getPid(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.setAddress(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.setConnection(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.setConnection().

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◆ DyIO() [4/4]

com.neuronrobotics.sdk.dyio.DyIO.DyIO	(	MACAddress	address,
		BowlerAbstractConnection	connection
	)

Builds a DyIO with the given address and connection.

Parameters

address	the address
connection	the connection

Definition at line 146 of file DyIO.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.address, com.neuronrobotics.sdk.common.BowlerAbstractDevice.connection, com.neuronrobotics.sdk.dyio.DyIO.getPid(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.setAddress(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.setConnection(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.setConnection().

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Member Function Documentation

◆ addDyIOEventListener()

void com.neuronrobotics.sdk.dyio.DyIO.addDyIOEventListener ( IDyIOEventListener l )

Add an IDyIOEventListener that will be contacted with an IDyIOEvent on each incoming data event.

DyIO event listeners are used to get information from all DyIO events. This is how to access the Power events: DyIO power switch change events DyIO external power voltage change events

Parameters

l the l

Definition at line 543 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.listeners.

◆ addPIDEventListener()

void com.neuronrobotics.sdk.dyio.DyIO.addPIDEventListener ( IPIDEventListener l )

Allows a user to attach a listener to the device to listen for PID events Events include: PID reset, where the user is notified if the controllers input is reset from software PID limit, if the device generates a Home, Upper limit, or Lower limit event from a hardware event PID position, if the current position of the PID controllers sensor input changes.

Parameters

l the l

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 912 of file DyIO.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.addPIDEventListener(), and com.neuronrobotics.sdk.dyio.DyIO.getPid().

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◆ checkFirmwareRev()

void com.neuronrobotics.sdk.dyio.DyIO.checkFirmwareRev ( ) throws DyIOFirmwareOutOfDateException

Sync the state cache with the live device. This method will query the device for its firmware revision and its info string. The default opperation will be to throw a DyIOFirmwareOutOfDateException is the firmware version does not match the NRDK build version. This can be overridden if DyIO.disableFWCheck() is called BEFORE connection.

Exceptions

DyIOFirmwareOutOfDateException the dy io firmware out of date exception

Definition at line 353 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.checkFirmware, com.neuronrobotics.sdk.dyio.DyIO.firmware, com.neuronrobotics.sdk.config.SDKBuildInfo.getBuildInfo(), and com.neuronrobotics.sdk.common.Log.info().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getAllChannelModes(), com.neuronrobotics.sdk.dyio.DyIO.resync(), com.neuronrobotics.sdk.dyio.DyIO.startHeartBeat(), and com.neuronrobotics.sdk.dyio.DyIO.stopHeartBeat().

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◆ configAdvancedAsyncAutoSample() [1/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.configAdvancedAsyncAutoSample ( int pin )

This method configures the advanced async mode for a given DyIO channel to trigger on any event where the value is sampled on a real-time This sets the sample time to 100 ms clock and sent as async regardless of value change.

Parameters

pin	the DyIO channel to configure

Returns: true if success

Definition at line 1005 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIOChannel.configAdvancedAsyncAutoSample().

◆ configAdvancedAsyncAutoSample() [2/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.configAdvancedAsyncAutoSample	(	int	pin,
		int	time
	)

This method configures the advanced async mode for a given DyIO channel to trigger on any event where the value is sampled on a real-time clock and sent as async regardless of value change.

Parameters

pin	the DyIO channel to configure
time	the sample time in MiliSeconds

Returns: true if success

Definition at line 1052 of file DyIO.java.

References com.neuronrobotics.sdk.commands.bcs.io.AsyncMode.AUTOSAMP, and com.neuronrobotics.sdk.dyio.DyIO.send().

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◆ configAdvancedAsyncDeadBand() [1/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.configAdvancedAsyncDeadBand	(	int	pin,
		int	deadbandSize
	)

This method configures the advanced async mode for a given DyIO channel to trigger on any event where the values are outside a deadband This sets the sample time to 100 ms.

Parameters

pin	the DyIO channel to configure
deadbandSize	the size in sensor units of the deadband

Returns: true if success

Definition at line 980 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIOChannel.configAdvancedAsyncDeadBand().

◆ configAdvancedAsyncDeadBand() [2/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.configAdvancedAsyncDeadBand	(	int	pin,
		int	time,
		int	deadbandSize
	)

This method configures the advanced async mode for a given DyIO channel to trigger on any event where the values are outside a deadband.

Parameters

pin	the DyIO channel to configure
time	the sample time in MiliSeconds
deadbandSize	the size in sensor units of the deadband

Returns: true if success

Definition at line 1027 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.send().

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◆ configAdvancedAsyncNotEqual() [1/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.configAdvancedAsyncNotEqual ( int pin )

This method configures the advanced async mode for a given DyIO channel to trigger on any event where the values are not equal. This sets the sample time to 100 ms

Parameters

pin	the DyIO channel to configure

Returns: true is success

Definition at line 968 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIOChannel.configAdvancedAsyncNotEqual(), and com.neuronrobotics.sdk.dyio.DyIOChannel.setMode().

◆ configAdvancedAsyncNotEqual() [2/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.configAdvancedAsyncNotEqual	(	int	pin,
		int	time
	)

This method configures the advanced async mode for a given DyIO channel to trigger on any event where the values are not equal.

Parameters

pin	the DyIO channel to configure
time	the sample time in MiliSeconds

Returns: true if success

Definition at line 1015 of file DyIO.java.

References com.neuronrobotics.sdk.commands.bcs.io.AsyncMode.NOTEQUAL, and com.neuronrobotics.sdk.dyio.DyIO.send().

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◆ configAdvancedAsyncTreshhold() [1/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.configAdvancedAsyncTreshhold	(	int	pin,
		int	threshholdValue,
		AsyncThreshholdEdgeType	edgeType
	)

This method configures the advanced async mode for a given DyIO channel to trigger on any event where the value crosses a threshhold This sets the sample time to 100 ms.

Parameters

pin	the DyIO channel to configure
threshholdValue	a value setpoint that triggers an even when it is crossed
edgeType	Rising, Falling, or both

Returns: true if success

Definition at line 993 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIOChannel.configAdvancedAsyncTreshhold().

◆ configAdvancedAsyncTreshhold() [2/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.configAdvancedAsyncTreshhold	(	int	pin,
		int	time,
		int	threshholdValue,
		AsyncThreshholdEdgeType	edgeType
	)

This method configures the advanced async mode for a given DyIO channel to trigger on any event where the value crosses a threshhold.

Parameters

pin	the DyIO channel to configure
time	the sample time in MiliSeconds
threshholdValue	a value setpoint that triggers an even when it is crossed
edgeType	Rising, Falling, or both

Returns: true if success

Definition at line 1040 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.send().

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◆ ConfigureDynamicPIDChannels()

boolean com.neuronrobotics.sdk.dyio.DyIO.ConfigureDynamicPIDChannels ( DyPIDConfiguration config )

This method sends a packet to the DyIO module to set up the linking between a DyIO input channel and a DyIO output channel to a PID controller Inputs are read as the input to the PID calculation Outputs are set as a result of the PID calculation.

Parameters

config the configuration data object

Returns: true if success

Definition at line 837 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.send().

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◆ ConfigurePDVelovityController()

boolean com.neuronrobotics.sdk.dyio.DyIO.ConfigurePDVelovityController ( PDVelocityConfiguration config )

This method sends a PID configuration object to the device. THe controller can be enabled/disabled with this method All PID parameters are stored in the PIDConfiguration ojbect prior to calling this method will be sent to the device.

Parameters

config the configuration wrapper object

Returns: true if success

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 1312 of file DyIO.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.ConfigurePDVelovityController(), and com.neuronrobotics.sdk.dyio.DyIO.getPid().

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◆ ConfigurePIDController()

boolean com.neuronrobotics.sdk.dyio.DyIO.ConfigurePIDController ( PIDConfiguration config )

This method sends a PID configuration object to the device. THe controller can be enabled/disabled with this method All PID parameters are stored in the PIDConfiguration ojbect prior to calling this method will be sent to the device.

Parameters

config the configuration wrapper object

Returns: true if success

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 900 of file DyIO.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.ConfigurePIDController(), and com.neuronrobotics.sdk.dyio.DyIO.getPid().

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◆ connect()

boolean com.neuronrobotics.sdk.dyio.DyIO.connect ( )

This method tells the connection object to start and connects the up and down streams pipes. Once this method is called and returns without exception, the device is ready to communicate with

Returns: true, if successful

Exceptions

InvalidConnectionException the invalid connection exception

Reimplemented from com.neuronrobotics.sdk.common.BowlerAbstractDevice.

Definition at line 1061 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.common.DeviceManager.addConnection().

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◆ disableFWCheck()

static void com.neuronrobotics.sdk.dyio.DyIO.disableFWCheck ( )

static

This static method can be called before connection a DyIO object to disable the firmware verification step This can be used to allow older versions of the DyIO firmware to be used with newer NRDK versions.

Definition at line 334 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.checkFirmware.

◆ enableFWCheck()

static void com.neuronrobotics.sdk.dyio.DyIO.enableFWCheck ( )

static

This static method can be called before connection a DyIO object to enable the firmware verification step.

Definition at line 341 of file DyIO.java.

◆ fireDyIOEvent()

void com.neuronrobotics.sdk.dyio.DyIO.fireDyIOEvent ( IDyIOEvent e )

Contact all of the listeners with the given event.

Parameters

e	the event to fire to all listeners

Definition at line 578 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.listeners.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.onAsyncResponse(), and com.neuronrobotics.sdk.dyio.DyIO.powerEvent().

◆ flush()

void com.neuronrobotics.sdk.dyio.DyIO.flush ( double seconds )

This interface says the device can cache values and flush them in one push

Parameters

seconds the duration of the flush, from current position and time to cached positions in this many seconds

Implements com.neuronrobotics.sdk.common.IFlushable.

Definition at line 1428 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.flushCache().

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◆ flushCache()

void com.neuronrobotics.sdk.dyio.DyIO.flushCache ( double seconds )

This method will flush the DyIO cache for all channels. All channel values as stored by setting the value from code, or the value stored at the time that the cache/flush mode was enabled. THis method will flush all 24 channel values in one packet allowing for co-ordinated motion.

Parameters

seconds the seconds

Definition at line 648 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getInternalChannels(), com.neuronrobotics.sdk.dyio.DyIO.isLegacyParser(), com.neuronrobotics.sdk.common.BowlerMethod.POST, and com.neuronrobotics.sdk.dyio.DyIO.send().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.flush(), and com.neuronrobotics.sdk.dyio.sequencer.CoreScheduler.DyIOFlusher.run().

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◆ flushPIDChannels()

void com.neuronrobotics.sdk.dyio.DyIO.flushPIDChannels ( double time )

This method will read all of the cached or current setpoints for all PID controllers and calls SetAllPIDSetPoint with its internal data.

Parameters

time the time

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 925 of file DyIO.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.flushPIDChannels(), and com.neuronrobotics.sdk.dyio.DyIO.getPid().

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◆ getAllChannelModes()

ArrayList<DyIOChannelMode> com.neuronrobotics.sdk.dyio.DyIO.getAllChannelModes ( )

Gets the all channel modes.

Returns: the all channel modes

Definition at line 377 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.resync().

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◆ getAllChannelValues()

int [] com.neuronrobotics.sdk.dyio.DyIO.getAllChannelValues ( )

Gets the values of all channels as an array.

Returns: the values of all non stream arrays.

Definition at line 1267 of file DyIO.java.

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◆ GetAllPIDPosition()

float [] com.neuronrobotics.sdk.dyio.DyIO.GetAllPIDPosition ( )

This method requests all PID controllers to report back their current value of their input sensors. This method is also used to determine dynamically how many PID control groups are availible on a device.

Returns: and array of values representing the current state of the given cntrollers input

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 894 of file DyIO.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.GetAllPIDPosition(), and com.neuronrobotics.sdk.dyio.DyIO.getPid().

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◆ getAvailibleChannelModes()

ArrayList<DyIOChannelMode> com.neuronrobotics.sdk.dyio.DyIO.getAvailibleChannelModes ( int channel )

Gets the availible channel modes.

Parameters

channel the channel

Returns: the availible channel modes

Definition at line 1370 of file DyIO.java.

References com.neuronrobotics.sdk.common.Log.error(), com.neuronrobotics.sdk.common.BowlerMethod.GET, com.neuronrobotics.sdk.dyio.DyIOChannelMode.get(), com.neuronrobotics.sdk.common.ByteList.getByte(), com.neuronrobotics.sdk.common.BowlerDatagram.getData(), com.neuronrobotics.sdk.common.Log.info(), com.neuronrobotics.sdk.dyio.DyIO.isLegacyParser(), com.neuronrobotics.sdk.dyio.DyIO.send(), com.neuronrobotics.sdk.common.ByteList.size(), and com.neuronrobotics.sdk.dyio.DyIOChannelMode.toString().

Referenced by com.neuronrobotics.sdk.dyio.DyIOChannel.getAvailableModes().

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◆ getBankAState()

DyIOPowerState com.neuronrobotics.sdk.dyio.DyIO.getBankAState ( )

This method returns the bank switch state of bank A (0-11) This state is updated asynchronously by the DyIOEventListener.

Returns: the current state

Definition at line 704 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.bankAState.

Referenced by com.neuronrobotics.sdk.dyio.DyIOChannel.getAvailableModes().

◆ getBankBState()

DyIOPowerState com.neuronrobotics.sdk.dyio.DyIO.getBankBState ( )

This method returns the bank switch state of bank B (12-23) This state is updated asynchronously by the DyIOEventListener.

Returns: the current state

Definition at line 714 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.bankBState.

Referenced by com.neuronrobotics.sdk.dyio.DyIOChannel.getAvailableModes().

◆ getBatteryVoltage()

double com.neuronrobotics.sdk.dyio.DyIO.getBatteryVoltage ( boolean refresh )

THis method will return the current voltage on the battery connected to the DyIO external power connector.

Parameters

refresh true if you want to query the device, false to just get the cached value from the last async.

Returns: the voltage of the battery in Volts

Definition at line 723 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.batteryVoltage, com.neuronrobotics.sdk.dyio.DyIO.powerEvent(), and com.neuronrobotics.sdk.dyio.DyIO.send().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.resync().

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◆ getCachedMode()

boolean com.neuronrobotics.sdk.dyio.DyIO.getCachedMode ( )

This method returns the current state of the DyIO objects cache/flush system for the DyIO channel values.

Returns: true if cache/flush mode is enabled

Definition at line 618 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.cachedMode.

◆ getChannel()

DyIOChannel com.neuronrobotics.sdk.dyio.DyIO.getChannel ( int channel )

Returns the DyIO channel associated with a channel number.

Parameters

channel

integer representing the index of the channel

a channel number

Returns: the channel

Definition at line 160 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getInternalChannels(), and com.neuronrobotics.sdk.dyio.DyIO.validateChannel().

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◆ getChannels()

ArrayList<DyIOChannel> com.neuronrobotics.sdk.dyio.DyIO.getChannels ( )

This method creates a new collection and populates it with the DyIO channel objects.

Returns: a collection of DyIOChannel objects

Definition at line 311 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getInternalChannels().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getAllChannelValues(), com.neuronrobotics.sdk.dyio.DyIO.onAsyncResponse(), and com.neuronrobotics.sdk.dyio.DyIOChannel.setMode().

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◆ getDyIOChannelCount()

Integer com.neuronrobotics.sdk.dyio.DyIO.getDyIOChannelCount ( )

Gets the dy io channel count.

Returns: the dy io channel count

Definition at line 1343 of file DyIO.java.

References com.neuronrobotics.sdk.common.ByteList.convertToInt(), com.neuronrobotics.sdk.dyio.DyIO.dyioChanCount, com.neuronrobotics.sdk.common.BowlerMethod.GET, com.neuronrobotics.sdk.common.ByteList.getBytes(), com.neuronrobotics.sdk.common.BowlerDatagram.getData(), com.neuronrobotics.sdk.dyio.DyIO.isLegacyParser(), and com.neuronrobotics.sdk.dyio.DyIO.send().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getAllChannelModes().

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◆ getDyPIDConfiguration()

DyPIDConfiguration com.neuronrobotics.sdk.dyio.DyIO.getDyPIDConfiguration ( int group )

This method gets the current state of the DyIO channel configuration of a given PID group.

Parameters

group the index of the PID group to get information about

Returns: the dy pid configuration

Definition at line 847 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.send().

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◆ getFirmwareRev()

byte [] com.neuronrobotics.sdk.dyio.DyIO.getFirmwareRev ( )

This method gets the 3 byte firmware revision code. THis code is used to determine compatibility between the version of firmware on the DyIO and the version of the NRDK being used to communicate with it.

Returns: The firmware version data

Definition at line 292 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.firmware.

◆ getFirmwareRevString()

String com.neuronrobotics.sdk.dyio.DyIO.getFirmwareRevString ( )

This method turns the firmware version number into a formatted string for clear display

Returns: Firmware version string.

Definition at line 301 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.firmware.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.toString().

◆ getHeartBeatTime()

int com.neuronrobotics.sdk.dyio.DyIO.getHeartBeatTime ( )

Gets the heart beat time.

Returns: the heart beat time

Definition at line 1109 of file DyIO.java.

References com.neuronrobotics.sdk.common.ByteList.convertToInt(), com.neuronrobotics.sdk.common.ByteList.getBytes(), com.neuronrobotics.sdk.common.BowlerDatagram.getData(), and com.neuronrobotics.sdk.dyio.DyIO.send().

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◆ getInfo()

String com.neuronrobotics.sdk.dyio.DyIO.getInfo ( )

Gets the DyIO's internally stored info string. This is a 16 byte string that can be stored on the DYIO and used as a human-readable, user setable, identifier.

Returns: The current string

Definition at line 265 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.info.

◆ getInternalChannels()

ArrayList<DyIOChannel> com.neuronrobotics.sdk.dyio.DyIO.getInternalChannels ( )

private

Getter for channels.

Returns: the internal channels

Definition at line 1179 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.channels.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.flushCache(), com.neuronrobotics.sdk.dyio.DyIO.getAllChannelModes(), com.neuronrobotics.sdk.dyio.DyIO.getAllChannelValues(), com.neuronrobotics.sdk.dyio.DyIO.getChannel(), com.neuronrobotics.sdk.dyio.DyIO.getChannels(), com.neuronrobotics.sdk.dyio.DyIO.resync(), com.neuronrobotics.sdk.dyio.DyIO.setCachedMode(), com.neuronrobotics.sdk.dyio.DyIO.toString(), and com.neuronrobotics.sdk.dyio.DyIO.validateChannel().

◆ getMode()

DyIOChannelMode com.neuronrobotics.sdk.dyio.DyIO.getMode ( int channel )

THis method returns the state of the given channels I/O mode.

Parameters

channel integer representing the index of the channel

Returns: the current mode

Definition at line 209 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getChannel(), and com.neuronrobotics.sdk.dyio.DyIOChannel.getMode().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.toString().

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◆ getPDVelocityConfiguration()

PDVelocityConfiguration com.neuronrobotics.sdk.dyio.DyIO.getPDVelocityConfiguration ( int group )

Gets the current state of the PID group. The PIDConfiguration object will contain the current configuration state of the requested PID controller.

Parameters

group the index of the PID group

Returns: the configuration object

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 1321 of file DyIO.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getPDVelocityConfiguration(), and com.neuronrobotics.sdk.dyio.DyIO.getPid().

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◆ getPid()

GenericPIDDevice com.neuronrobotics.sdk.dyio.DyIO.getPid ( )

Gets the pid.

Returns: the pid

Definition at line 1405 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.pid.

◆ getPIDChannel()

PIDChannel com.neuronrobotics.sdk.dyio.DyIO.getPIDChannel ( int group )

Gets the PID channel wrapper for a specific channel. The channel wrappers can be used to cache values for use with the cache/flush system. This wrapper will encapsulate a specific PID channel.

Parameters

group the index of the PID group

Returns: a PIDChannel encapsulation object

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 932 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.getPIDChannel().

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◆ getPIDChannelCount()

int com.neuronrobotics.sdk.dyio.DyIO.getPIDChannelCount ( )

Requests the current number of PID channels.

Returns: the PID channel count

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 1330 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.getPIDChannelCount().

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◆ getPIDConfiguration()

PIDConfiguration com.neuronrobotics.sdk.dyio.DyIO.getPIDConfiguration ( int group )

Gets the current state of the PID group. The PIDConfiguration object will contain the current configuration state of the requested PID controller.

Parameters

group the index of the PID group

Returns: the configuration object

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 906 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.getPIDConfiguration().

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◆ GetPIDPosition()

float com.neuronrobotics.sdk.dyio.DyIO.GetPIDPosition ( int group )

This method requests a single PID controller group value. The value returned represents the current state of the PID controller's input sensor in raw units

Parameters

group the index of the PID group

Returns: The current value of the sensor input

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 888 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.GetPIDPosition().

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◆ getValue()

int com.neuronrobotics.sdk.dyio.DyIO.getValue ( int channel )

This method is used to get the value of a given channel. The data units will be determined by DyIO channel mode, and so should be treated by this method as unit-less.

Parameters

channel integer representing the index of the channel

Returns: The DyIO channels current value

Definition at line 255 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getChannel(), and com.neuronrobotics.sdk.dyio.DyIOChannel.getValue().

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◆ haveFirmware()

boolean com.neuronrobotics.sdk.dyio.DyIO.haveFirmware ( )

private

Check to see if the firmware has been checked yet.

Returns: true if already checked

Definition at line 525 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.firmware.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.resync().

◆ isAvailable()

boolean com.neuronrobotics.sdk.dyio.DyIO.isAvailable ( ) throws InvalidConnectionException

Determines if the device is available.

Returns: true if the device is avaiable, false if it is not

Exceptions

InvalidConnectionException the invalid connection exception

Reimplemented from com.neuronrobotics.sdk.common.BowlerAbstractDevice.

Definition at line 684 of file DyIO.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.getConnection(), and com.neuronrobotics.sdk.common.BowlerAbstractConnection.isConnected().

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◆ isLegacyParser()

boolean com.neuronrobotics.sdk.dyio.DyIO.isLegacyParser ( )

Checks if is legacy parser.

Returns: true, if is legacy parser

Definition at line 1414 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.legacyParser.

◆ isMuteResyncOnModeChange()

boolean com.neuronrobotics.sdk.dyio.DyIO.isMuteResyncOnModeChange ( )

This will check if the device is in the muted mode change mode.

Returns: true if in muted mode

Definition at line 1196 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.muteResyncOnModeChange.

◆ isResyncing()

boolean com.neuronrobotics.sdk.dyio.DyIO.isResyncing ( )

Checks to see if the DyIO is currently re-syncing its internal staate.

Returns: true, if is resyncing

Definition at line 1232 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.resyncing.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.resync().

◆ isServoPowerSafeMode()

Boolean com.neuronrobotics.sdk.dyio.DyIO.isServoPowerSafeMode ( )

Tells the application whether or not to use the brownout detect.

Returns: the boolean

Definition at line 1167 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.enableBrownOut, and com.neuronrobotics.sdk.dyio.DyIO.setServoPowerSafeMode().

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◆ killAllPidGroups()

boolean com.neuronrobotics.sdk.dyio.DyIO.killAllPidGroups ( )

Sends a single packet to stop all PID groups at once.

Returns: true, if successful

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 954 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.killAllPidGroups().

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◆ onAsyncResponse()

void com.neuronrobotics.sdk.dyio.DyIO.onAsyncResponse ( BowlerDatagram data )

On async response.

Parameters

data the data

Implements com.neuronrobotics.sdk.common.IBowlerDatagramListener.

Definition at line 762 of file DyIO.java.

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◆ onConnect()

void com.neuronrobotics.sdk.dyio.DyIO.onConnect ( BowlerAbstractConnection source )

called on the event of a connection object connect.

Parameters

source the source

Implements com.neuronrobotics.sdk.common.IConnectionEventListener.

Definition at line 1214 of file DyIO.java.

◆ onDisconnect()

void com.neuronrobotics.sdk.dyio.DyIO.onDisconnect ( BowlerAbstractConnection source )

Called on the event of a connection object disconnect.

Parameters

source the source

Implements com.neuronrobotics.sdk.common.IConnectionEventListener.

Definition at line 1204 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.firmware.

◆ powerEvent()

void com.neuronrobotics.sdk.dyio.DyIO.powerEvent ( BowlerDatagram data )

private

Parses a datagram into the power event data.

Parameters

data the data

Definition at line 736 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getBatteryVoltage(), com.neuronrobotics.sdk.dyio.DyIO.onAsyncResponse(), and com.neuronrobotics.sdk.dyio.DyIO.setServoPowerSafeMode().

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◆ removeAllDyIOEventListeners()

void com.neuronrobotics.sdk.dyio.DyIO.removeAllDyIOEventListeners ( )

Clears out all current IDyIOEventListeners.

Definition at line 568 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.listeners.

◆ removeDyIOEventListener()

void com.neuronrobotics.sdk.dyio.DyIO.removeDyIOEventListener ( IDyIOEventListener l )

Removes an IDyIOEventListener from being contacted on each new IDyIOEvent.

Parameters

l the l

Definition at line 557 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.listeners.

◆ removePIDEventListener()

void com.neuronrobotics.sdk.dyio.DyIO.removePIDEventListener ( IPIDEventListener l )

Removes a specific IPIDEventListener.

Parameters

l the l

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 918 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.removePIDEventListener().

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◆ ResetPIDChannel() [1/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.ResetPIDChannel ( int group )

Reset pid channel.

Parameters

group the group

Returns: true, if successful

Definition at line 870 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.ResetPIDChannel().

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◆ ResetPIDChannel() [2/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.ResetPIDChannel	(	int	group,
		float	valueToSetCurrentTo
	)

This method calls a reset of the PID group. This will set the current value of the controllers input to the given value (if possible) and will set the setpoint of the PID group to the current value (stopping the output)

Parameters

group	the index of the PID group
valueToSetCurrentTo	the target value that the controller should be set to.

Returns: true if success

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 857 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.ResetPIDChannel().

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◆ resync() [1/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.resync ( )

This method re-synchronizes the entire state of the DyIO object with the DyIO module. The Firmware version is checked The info string is checked All channel modes are updated

Returns: true if success

Definition at line 441 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.connect(), and com.neuronrobotics.sdk.dyio.DyIO.validateChannel().

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◆ resync() [2/2]

void com.neuronrobotics.sdk.dyio.DyIO.resync ( int channel )

This method synchronizes the DyIO channel mode from the DyIO module with this DyIO channel object This will actively query the DyIO for this information.

Parameters

channel integer representing the index of the channel

Definition at line 326 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getChannel(), and com.neuronrobotics.sdk.dyio.DyIOChannel.resync().

Referenced by com.neuronrobotics.sdk.dyio.DyIOChannel.resync(), and com.neuronrobotics.sdk.dyio.DyIOChannel.setMode().

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◆ send()

Object [] com.neuronrobotics.sdk.dyio.DyIO.send	(	String	namespace,
		BowlerMethod	method,
		String	rpcString,
		Object[]	arguments
	)

THis is the scripting interface to Bowler devices. THis allows a user to describe a namespace, rpc, and array or arguments to be paced into the packet based on the data types of the argument. The response in likewise unpacked into an array of objects.

Parameters

namespace	The string of the desired namespace
method	the method
rpcString	The string of the desired RPC
arguments	An array of objects corresponding to the data to be stuffed into the packet.

Returns: The return arguments parsed and packet into an array of arguments

Exceptions

DeviceConnectionException If the desired RPC's are not available then this will be thrown

Reimplemented from com.neuronrobotics.sdk.common.BowlerAbstractDevice.

Definition at line 168 of file DyIO.java.

◆ SetAllPIDSetPoint()

boolean com.neuronrobotics.sdk.dyio.DyIO.SetAllPIDSetPoint	(	float[]	setpoints,
		double	seconds
	)

Same as SetPIDSetPoint, but will set all setpoints at once. This can be used for co-ordinated motion of independant PID control groups.

Parameters

setpoints	and array of setpoint values (must match the number of availible PID control groups)
seconds	units in Seconds, the time it takes to make the transition from current to target. Zero will tell the controllers to go as fast as possible.

Returns: true if no errors occur

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 882 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.SetAllPIDSetPoint().

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◆ setCachedMode()

void com.neuronrobotics.sdk.dyio.DyIO.setCachedMode ( boolean mode )

This method enables the DyIO cache/flush system. When enabled, the system will interrupt all set value method calls and prevent them from sending packets to the DyIO. The channels will then need to either be flushed individually, or as a group. When the entire group is flushed, all channel values are set with a single packet allowing for co-ordinated motion. All channels will read the current state and set it as the cache value on the event of enabling the cache/flush mode

Parameters

mode	true to enable cache/flush mode, false to disable.

Definition at line 628 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.cachedMode, and com.neuronrobotics.sdk.dyio.DyIO.getInternalChannels().

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◆ setInfo()

void com.neuronrobotics.sdk.dyio.DyIO.setInfo ( String info )

Sets the DyIO's internally stored info string. This is a 16 byte string that can be stored on the DYIO and used as a human-readable, user setable, identifier.

Parameters

info	The String identifier to be stored by the DyIO.

Definition at line 279 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.info.

◆ setLegacyParser()

void com.neuronrobotics.sdk.dyio.DyIO.setLegacyParser ( boolean legacyParser )

Sets the legacy parser.

Parameters

legacyParser the new legacy parser

Definition at line 1423 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.legacyParser.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.resync().

◆ setMode() [1/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.setMode	(	int	channel,
		DyIOChannelMode	mode
	)

This method sets the I/O mode of a specific channel. the DyIO will be sent a packet to update its mode in firmware If the mode is the same as the current mode, nothing happens If the mode is different from the previous mode, a mode change listeners will be fired Asynchronus state will be unaffected

Parameters

channel	integer representing the index of the channel
mode	the DyIOChannelMode that this channel should be set to

Returns: true for success

Definition at line 182 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getChannel(), and com.neuronrobotics.sdk.dyio.DyIOChannel.setMode().

Referenced by com.neuronrobotics.sdk.dyio.peripherals.SPIChannel.SPIChannel().

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◆ setMode() [2/2]

boolean com.neuronrobotics.sdk.dyio.DyIO.setMode	(	int	channel,
		DyIOChannelMode	mode,
		boolean	async
	)

This method sets the I/O mode of a specific channel. the DyIO will be sent a packet to update its mode in firmware If the mode is the same as the current mode, nothing happens If the mode is different from the previous mode, a mode change listeners will be fired

Parameters

channel	integer representing the index of the channel
mode	the DyIOChannelMode that this channel should be set to
async	Forces the mode into or out of async mode

Returns: true for success

Definition at line 199 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getChannel(), and com.neuronrobotics.sdk.dyio.DyIOChannel.setMode().

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◆ setMuteResyncOnModeChange()

void com.neuronrobotics.sdk.dyio.DyIO.setMuteResyncOnModeChange ( boolean muteResyncOnModeChange )

This will enable a state where the DyIO will surpress DyIO mode update events.

Parameters

muteResyncOnModeChange true to enable the muted mode

Definition at line 1187 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.muteResyncOnModeChange.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getAllChannelModes(), com.neuronrobotics.sdk.dyio.DyIO.resync(), and com.neuronrobotics.sdk.dyio.DyIOChannel.setMode().

◆ SetPDVelocity()

boolean com.neuronrobotics.sdk.dyio.DyIO.SetPDVelocity	(	int	group,
		int	unitsPerSecond,
		double	seconds
	)		throws PIDCommandException

This method will use the internal PD velocity controller to run a PID controller at a constant velocity. Since this is not using the linear interpolation, it can run forever by giving Zero as the 'seconds' parameter.

Parameters

group	the index of the PID group
unitsPerSecond	a velocity in raw units per second
seconds	the amount of time to run at this velocity, or Zero to run forever

Returns: true, if successful

Exceptions

PIDCommandException If the values are out of range with the given data

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 947 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.SetPDVelocity().

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◆ SetPIDInterpolatedVelocity()

boolean com.neuronrobotics.sdk.dyio.DyIO.SetPIDInterpolatedVelocity	(	int	group,
		int	unitsPerSecond,
		double	seconds
	)		throws PIDCommandException

This method will use the linear interpolation system to set an output velocity of the PID controller. This method can be bounded by the maximum value representable by the sensor and can fail if that value is out of range.

Parameters

group	the index of the PID group
unitsPerSecond	a velocity in raw units per second
seconds	the amount of time to run at this velocity

Returns: true if successful

Exceptions

PIDCommandException If the values are out of range with the given data

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 940 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.SetPIDInterpolatedVelocity().

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◆ SetPIDSetPoint()

boolean com.neuronrobotics.sdk.dyio.DyIO.SetPIDSetPoint	(	int	group,
		float	setpoint,
		double	seconds
	)

This method sets the target setpoint for the specified PID controller group. This method will set up a linear interpolation from current position to target position which will take the specified number of seconds to make that transition

Parameters

group	the index of the PID group
setpoint	the target position for the controller
seconds	units in Seconds, the time it takes to make the transition from current to target. Zero will tell the controller to go as fast as possible.

Returns: true if no errors occur

Implements com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.

Definition at line 876 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getPid(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.SetPIDSetPoint().

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◆ setResyncing()

void com.neuronrobotics.sdk.dyio.DyIO.setResyncing ( boolean resyncing )

Sets the flag to represent if the DyIO is currently re-syncing itself with the device.

Parameters

resyncing the new resyncing

Definition at line 1223 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.resyncing.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.resync().

◆ setServoPowerSafeMode()

boolean com.neuronrobotics.sdk.dyio.DyIO.setServoPowerSafeMode ( boolean enable )

This method allows you to disable the brown out detect for the servo subsystem. If true is passed

Parameters

enable true to enable the borwnout, false to disable

Returns: True is success

Definition at line 1156 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.enableBrownOut, com.neuronrobotics.sdk.dyio.DyIO.powerEvent(), and com.neuronrobotics.sdk.dyio.DyIO.send().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.isServoPowerSafeMode().

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◆ setValue() [1/3]

boolean com.neuronrobotics.sdk.dyio.DyIO.setValue	(	int	channel,
		ByteList	value
	)

This method sets the value of a channel with a pre-packaged ByteList of the data to send. Since the bytelist is pre-packaged, the data will be sent to the DyIO as it is packet into the ByteList with NO VERIFICATION.

Parameters

channel	integer representing the index of the channel
value	ByteList of the data to send to the DyIO

Returns: true for success

Definition at line 234 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getChannel(), and com.neuronrobotics.sdk.dyio.DyIOChannel.setValue().

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◆ setValue() [2/3]

boolean com.neuronrobotics.sdk.dyio.DyIO.setValue	(	int	channel,
		int	value
	)

This method is a simple value set for a DyIO channel. This method is unit-less and will clip data to fit the channel modes requirements.

Parameters

channel	integer representing the index of the channel
value	Unit-less value to set to the DyIO's channel

Returns: true for success

Definition at line 221 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.getChannel(), and com.neuronrobotics.sdk.dyio.DyIOChannel.setValue().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.setValue().

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◆ setValue() [3/3]

boolean com.neuronrobotics.sdk.dyio.DyIO.setValue	(	int	channel,
		java.math.BigDecimal	value
	)

This method is a simple value set for a DyIO channel. This method is unit-less and will clip data to fit the channel modes requirements.

Parameters

channel	integer representing the index of the channel
value	Unit-less value to set to the DyIO's channel

Returns: true for success

Definition at line 245 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.setValue().

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◆ startHeartBeat()

void com.neuronrobotics.sdk.dyio.DyIO.startHeartBeat ( long msHeartBeatTime )

This method enables the heart beat. It tells the device how often to expect synchronous packet, and if communication fails to send in the given time, then the device should go into its "safe state". This will also set up a thread to ping the device periodically if it has been too long since the last user generated synchronous packet.

Parameters

msHeartBeatTime the ms heart beat time

Reimplemented from com.neuronrobotics.sdk.common.BowlerAbstractDevice.

Definition at line 1092 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.checkFirmwareRev(), and com.neuronrobotics.sdk.dyio.DyIO.send().

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◆ stopHeartBeat()

void com.neuronrobotics.sdk.dyio.DyIO.stopHeartBeat ( )

This method stops the heart beat and tells the device to stop expecting a heart beat. This will DISABLE the safe mode detect.

Reimplemented from com.neuronrobotics.sdk.common.BowlerAbstractDevice.

Definition at line 1119 of file DyIO.java.

References com.neuronrobotics.sdk.dyio.DyIO.checkFirmwareRev(), and com.neuronrobotics.sdk.dyio.DyIO.send().

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◆ toString()

String com.neuronrobotics.sdk.dyio.DyIO.toString ( )

Definition at line 1241 of file DyIO.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.getAddress(), com.neuronrobotics.sdk.dyio.DyIO.getFirmwareRevString(), com.neuronrobotics.sdk.dyio.DyIO.getInternalChannels(), and com.neuronrobotics.sdk.dyio.DyIO.getMode().

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◆ validateChannel()

void com.neuronrobotics.sdk.dyio.DyIO.validateChannel ( int channel )

protected

Validates a that a given channel is in the proper range.

Parameters

channel integer representing the index of the channel

Definition at line 590 of file DyIO.java.

References com.neuronrobotics.sdk.common.Log.error(), com.neuronrobotics.sdk.dyio.DyIO.getInternalChannels(), com.neuronrobotics.sdk.dyio.DyIO.haveBeenSynced, com.neuronrobotics.sdk.dyio.DyIO.resync(), and com.neuronrobotics.sdk.util.ThreadUtil.wait().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getChannel().

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Member Data Documentation

◆ bankAState

DyIOPowerState com.neuronrobotics.sdk.dyio.DyIO.bankAState

private

The bank a state.

Definition at line 78 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getBankAState(), and com.neuronrobotics.sdk.dyio.DyIO.powerEvent().

◆ bankBState

DyIOPowerState com.neuronrobotics.sdk.dyio.DyIO.bankBState

private

The bank b state.

Definition at line 81 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getBankBState(), and com.neuronrobotics.sdk.dyio.DyIO.powerEvent().

◆ batteryVoltage

double com.neuronrobotics.sdk.dyio.DyIO.batteryVoltage = 0

private

The battery voltage.

Definition at line 84 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getBatteryVoltage(), and com.neuronrobotics.sdk.dyio.DyIO.powerEvent().

◆ cachedMode

boolean com.neuronrobotics.sdk.dyio.DyIO.cachedMode =false

private

The cached mode.

Definition at line 87 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getCachedMode(), and com.neuronrobotics.sdk.dyio.DyIO.setCachedMode().

◆ channels

ArrayList<DyIOChannel> com.neuronrobotics.sdk.dyio.DyIO.channels = new ArrayList<DyIOChannel>()

private

The channels.

Definition at line 69 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getInternalChannels().

◆ checkFirmware

boolean com.neuronrobotics.sdk.dyio.DyIO.checkFirmware =false

staticprivate

The check firmware.

Definition at line 93 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.checkFirmwareRev(), and com.neuronrobotics.sdk.dyio.DyIO.disableFWCheck().

◆ dyioChanCount

Integer com.neuronrobotics.sdk.dyio.DyIO.dyioChanCount = null

private

The dyio chan count.

Definition at line 1336 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getDyIOChannelCount().

◆ enableBrownOut

Boolean com.neuronrobotics.sdk.dyio.DyIO.enableBrownOut =null

private

The enable brown out.

Definition at line 105 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.isServoPowerSafeMode(), com.neuronrobotics.sdk.dyio.DyIO.powerEvent(), and com.neuronrobotics.sdk.dyio.DyIO.setServoPowerSafeMode().

◆ firmware

byte [] com.neuronrobotics.sdk.dyio.DyIO.firmware = {0, 0, 0}

private

The firmware.

Definition at line 72 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.checkFirmwareRev(), com.neuronrobotics.sdk.dyio.DyIO.getFirmwareRev(), com.neuronrobotics.sdk.dyio.DyIO.getFirmwareRevString(), com.neuronrobotics.sdk.dyio.DyIO.haveFirmware(), com.neuronrobotics.sdk.dyio.DyIO.onDisconnect(), and com.neuronrobotics.sdk.dyio.DyIO.resync().

◆ haveBeenSynced

boolean com.neuronrobotics.sdk.dyio.DyIO.haveBeenSynced =false

private

The have been synced.

Definition at line 99 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.onAsyncResponse(), com.neuronrobotics.sdk.dyio.DyIO.resync(), and com.neuronrobotics.sdk.dyio.DyIO.validateChannel().

◆ info

String com.neuronrobotics.sdk.dyio.DyIO.info = "DyIO"

private

The info.

Definition at line 75 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getInfo(), and com.neuronrobotics.sdk.dyio.DyIO.setInfo().

◆ legacyParser

boolean com.neuronrobotics.sdk.dyio.DyIO.legacyParser = false

private

The legacy parser.

Definition at line 102 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.isLegacyParser(), and com.neuronrobotics.sdk.dyio.DyIO.setLegacyParser().

◆ listeners

ArrayList<IDyIOEventListener> com.neuronrobotics.sdk.dyio.DyIO.listeners = new ArrayList<IDyIOEventListener>()

private

The listeners.

Definition at line 66 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.addDyIOEventListener(), com.neuronrobotics.sdk.dyio.DyIO.fireDyIOEvent(), com.neuronrobotics.sdk.dyio.DyIO.removeAllDyIOEventListeners(), and com.neuronrobotics.sdk.dyio.DyIO.removeDyIOEventListener().

◆ muteResyncOnModeChange

boolean com.neuronrobotics.sdk.dyio.DyIO.muteResyncOnModeChange =false

private

The mute resync on mode change.

Definition at line 90 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.isMuteResyncOnModeChange(), and com.neuronrobotics.sdk.dyio.DyIO.setMuteResyncOnModeChange().

◆ NEURONROBOTICS_DYIO_1_0

final String com.neuronrobotics.sdk.dyio.DyIO.NEURONROBOTICS_DYIO_1_0 = "neuronrobotics.dyio.*;1.0"

staticprivate

The Constant NEURONROBOTICS_DYIO_1_0.

Definition at line 63 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.resync().

◆ pid

GenericPIDDevice com.neuronrobotics.sdk.dyio.DyIO.pid = new GenericPIDDevice()

private

The pid.

Definition at line 108 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.connect(), and com.neuronrobotics.sdk.dyio.DyIO.getPid().

◆ resyncing

boolean com.neuronrobotics.sdk.dyio.DyIO.resyncing = false

private

The resyncing.

Definition at line 96 of file DyIO.java.

Referenced by com.neuronrobotics.sdk.dyio.DyIO.isResyncing(), and com.neuronrobotics.sdk.dyio.DyIO.setResyncing().

The documentation for this class was generated from the following file:

java-bowler/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DyIO() [1/4]

◆ DyIO() [2/4]

◆ DyIO() [3/4]

◆ DyIO() [4/4]

Member Function Documentation

◆ addDyIOEventListener()

◆ addPIDEventListener()

◆ checkFirmwareRev()

◆ configAdvancedAsyncAutoSample() [1/2]

◆ configAdvancedAsyncAutoSample() [2/2]

◆ configAdvancedAsyncDeadBand() [1/2]

◆ configAdvancedAsyncDeadBand() [2/2]

◆ configAdvancedAsyncNotEqual() [1/2]

◆ configAdvancedAsyncNotEqual() [2/2]

◆ configAdvancedAsyncTreshhold() [1/2]

◆ configAdvancedAsyncTreshhold() [2/2]

◆ ConfigureDynamicPIDChannels()

◆ ConfigurePDVelovityController()

◆ ConfigurePIDController()

◆ connect()

◆ disableFWCheck()

◆ enableFWCheck()

◆ fireDyIOEvent()

◆ flush()

◆ flushCache()

◆ flushPIDChannels()

◆ getAllChannelModes()

◆ getAllChannelValues()

◆ GetAllPIDPosition()

◆ getAvailibleChannelModes()

◆ getBankAState()

◆ getBankBState()

◆ getBatteryVoltage()

◆ getCachedMode()

◆ getChannel()

◆ getChannels()

◆ getDyIOChannelCount()

◆ getDyPIDConfiguration()

◆ getFirmwareRev()

◆ getFirmwareRevString()

◆ getHeartBeatTime()

◆ getInfo()

◆ getInternalChannels()

◆ getMode()

◆ getPDVelocityConfiguration()

◆ getPid()

◆ getPIDChannel()

◆ getPIDChannelCount()

◆ getPIDConfiguration()

◆ GetPIDPosition()

◆ getValue()

◆ haveFirmware()

◆ isAvailable()

◆ isLegacyParser()

◆ isMuteResyncOnModeChange()

◆ isResyncing()

◆ isServoPowerSafeMode()

◆ killAllPidGroups()

◆ onAsyncResponse()

◆ onConnect()

◆ onDisconnect()

◆ powerEvent()

◆ removeAllDyIOEventListeners()

◆ removeDyIOEventListener()

◆ removePIDEventListener()

◆ ResetPIDChannel() [1/2]

◆ ResetPIDChannel() [2/2]

◆ resync() [1/2]

◆ resync() [2/2]

◆ send()

◆ SetAllPIDSetPoint()

◆ setCachedMode()