Inheritance diagram for com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral:

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Collaboration diagram for com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral:

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Public Member Functions
	DyIOAbstractPeripheral (DyIOChannel channel, DyIOChannelMode myMode, boolean async)

DyIOChannelMode	getClassMode ()

boolean	isEnabled ()

boolean	setMode ()

boolean	setMode (boolean async)

boolean	setMode (DyIOChannelMode mode, boolean async)

DyIOChannel	getChannel ()

DyIOChannelMode	getMode ()

boolean	setValue (int value) throws InvalidResponseException

boolean	setValue (ByteList value) throws InvalidResponseException

int	getValue () throws InvalidResponseException

boolean	SavePosition (int pos)

abstract boolean	hasAsync ()

boolean	configAdvancedAsyncNotEqual ()

boolean	configAdvancedAsyncDeadBand (int deadbandSize)

boolean	configAdvancedAsyncTreshhold (int threshholdValue, AsyncThreshholdEdgeType edgeType)

boolean	configAdvancedAsyncAutoSample ()

boolean	configAdvancedAsyncNotEqual (int msTime)

boolean	configAdvancedAsyncDeadBand (int msTime, int deadbandSize)

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

boolean	configAdvancedAsyncAutoSample (int msTime)

boolean	flush ()

void	setAsync (boolean b)

int	getConfiguration ()

Private Member Functions
int	getConfigurationFromDevice ()

void	setConfiguration (int configuration)

Private Attributes
DyIOChannel	channel

boolean	enabled = false

int	configuration =0

Detailed Description

The Class DyIOAbstractPeripheral.

Definition at line 31 of file DyIOAbstractPeripheral.java.

Constructor & Destructor Documentation

◆ DyIOAbstractPeripheral()

com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.DyIOAbstractPeripheral	(	DyIOChannel	channel,
		DyIOChannelMode	myMode,
		boolean	async
	)

DyIOAbstractPeripheral.

Parameters

channel	The channel object to set up as whatever peripheral is needed
myMode	the my mode
async	the async

Definition at line 49 of file DyIOAbstractPeripheral.java.

References com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.channel, com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.getConfigurationFromDevice(), com.neuronrobotics.sdk.dyio.DyIOChannel.getMode(), com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.setConfiguration(), and com.neuronrobotics.sdk.dyio.DyIOChannel.setMode().

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Member Function Documentation

◆ configAdvancedAsyncAutoSample() [1/2]

boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.configAdvancedAsyncAutoSample ( )

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.

Returns: true if success

Definition at line 280 of file DyIOAbstractPeripheral.java.

◆ configAdvancedAsyncAutoSample() [2/2]

boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.configAdvancedAsyncAutoSample ( int msTime )

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

msTime the sample time in MiliSeconds

Returns: true if success

Definition at line 322 of file DyIOAbstractPeripheral.java.

◆ configAdvancedAsyncDeadBand() [1/2]

boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.configAdvancedAsyncDeadBand ( 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

deadbandSize the size in sensor units of the deadband

Returns: true if success

Definition at line 257 of file DyIOAbstractPeripheral.java.

◆ configAdvancedAsyncDeadBand() [2/2]

boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.configAdvancedAsyncDeadBand	(	int	msTime,
		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

msTime	the sample time in MiliSeconds
deadbandSize	the size in sensor units of the deadband

Returns: true if success

Definition at line 299 of file DyIOAbstractPeripheral.java.

◆ configAdvancedAsyncNotEqual() [1/2]

boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.configAdvancedAsyncNotEqual ( )

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

Returns: true is success

Definition at line 246 of file DyIOAbstractPeripheral.java.

Referenced by com.neuronrobotics.sdk.dyio.sequencer.ServoOutputScheduleChannel.addAnalogInputListener(), com.neuronrobotics.sdk.addons.kinematics.AnalogPrismaticLink.setAnalogChannel(), and com.neuronrobotics.sdk.addons.kinematics.AnalogRotoryLink.setAnalogChannel().

◆ configAdvancedAsyncNotEqual() [2/2]

boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.configAdvancedAsyncNotEqual ( int msTime )

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

Parameters

msTime the sample time in MiliSeconds

Returns: true if success

Definition at line 288 of file DyIOAbstractPeripheral.java.

◆ configAdvancedAsyncTreshhold() [1/2]

boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.configAdvancedAsyncTreshhold	(	int	msTime,
		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

msTime	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 311 of file DyIOAbstractPeripheral.java.

◆ configAdvancedAsyncTreshhold() [2/2]

boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.configAdvancedAsyncTreshhold	(	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

threshholdValue	a value setpoint that triggers an even when it is crossed
edgeType	Rising, Falling, or both

Returns: true if success

Definition at line 269 of file DyIOAbstractPeripheral.java.

◆ flush()

boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.flush ( )

THis method performs a cache flush on the channel wrapped by this object.

Returns: true if success

Definition at line 331 of file DyIOAbstractPeripheral.java.

Referenced by com.neuronrobotics.sdk.dyio.sequencer.CoreScheduler.addServoChannel(), com.neuronrobotics.sdk.dyio.sequencer.ServoOutputScheduleChannel.flush(), com.neuronrobotics.sdk.dyio.peripherals.CounterOutputChannel.SetPosition(), com.neuronrobotics.sdk.dyio.peripherals.ServoChannel.SetPosition(), and com.neuronrobotics.sdk.dyio.DyIOChannel.setValue().

◆ getChannel()

DyIOChannel com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.getChannel ( )

Returns the channel object used by the peripheral.

Returns: returns the channel object

Implements com.neuronrobotics.sdk.dyio.IDyIOChannel.

Definition at line 141 of file DyIOAbstractPeripheral.java.

References com.neuronrobotics.sdk.dyio.DyIOChannel.getChannel().

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◆ getClassMode()

DyIOChannelMode com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.getClassMode ( )

This method retrieves the channel mode of this peripheral.

Returns: the class mode

Definition at line 89 of file DyIOAbstractPeripheral.java.

◆ getConfiguration()

int com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.getConfiguration ( )

Gets the configuration.

Returns: the configuration

Definition at line 349 of file DyIOAbstractPeripheral.java.

◆ getConfigurationFromDevice()

int com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.getConfigurationFromDevice ( )

private

Gets the configuration from device.

Returns: the configuration from device

Definition at line 65 of file DyIOAbstractPeripheral.java.

References com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.channel, com.neuronrobotics.sdk.common.BowlerMethod.CRITICAL, com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.getChannel(), com.neuronrobotics.sdk.dyio.DyIOChannel.getChannelNumber(), com.neuronrobotics.sdk.dyio.DyIOChannel.getDevice(), com.neuronrobotics.sdk.dyio.DyIOChannel.getMode(), com.neuronrobotics.sdk.dyio.DyIO.send(), and com.neuronrobotics.sdk.dyio.DyIOChannelMode.SERVO_OUT.

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

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◆ getMode()

DyIOChannelMode com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.getMode ( )

This method gets the current mode of this peripheral.

Returns: returns the mode of this channel

Implements com.neuronrobotics.sdk.dyio.IDyIOChannel.

Definition at line 151 of file DyIOAbstractPeripheral.java.

Referenced by com.neuronrobotics.sdk.dyio.peripherals.CounterOutputChannel.validate(), and com.neuronrobotics.sdk.dyio.peripherals.ServoChannel.validate().

◆ getValue()

int com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.getValue ( ) throws InvalidResponseException

This method gets the value of the given peripheral.

Returns: the value of the channel on the DyIO

Exceptions

InvalidResponseException the invalid response exception

Implements com.neuronrobotics.sdk.dyio.IDyIOChannel.

Definition at line 186 of file DyIOAbstractPeripheral.java.

Referenced by com.neuronrobotics.sdk.dyio.sequencer.CoreScheduler.addServoChannel(), com.neuronrobotics.sdk.addons.kinematics.AnalogPrismaticLink.getCurrentPosition(), com.neuronrobotics.sdk.addons.kinematics.AnalogRotoryLink.getCurrentPosition(), com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel.getScaledValue(), com.neuronrobotics.sdk.dyio.peripherals.DigitalInputChannel.isHigh(), com.neuronrobotics.sdk.dyio.peripherals.DigitalOutputChannel.isHigh(), and com.neuronrobotics.sdk.dyio.sequencer.ServoOutputScheduleChannel.ServoOutputScheduleChannel().

◆ hasAsync()

abstract boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.hasAsync ( )

abstract

This method is to check if this peripheral is capable to be set as up as asynchronous.

Returns: if it cna be async

◆ isEnabled()

boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.isEnabled ( )

isEnabled.

Returns: if the channel is enabled

Definition at line 98 of file DyIOAbstractPeripheral.java.

Referenced by com.neuronrobotics.sdk.dyio.peripherals.CounterOutputChannel.validate(), and com.neuronrobotics.sdk.dyio.peripherals.ServoChannel.validate().

◆ SavePosition()

boolean com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral.SavePosition ( int pos )

This method sets the value of the output of the giver peripheral, and also stores this value as the "default" value in non volatile memory to use at startup of the peripheral.

Parameters