Inheritance diagram for com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp:

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Collaboration diagram for com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp:

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Public Member Functions
	AbstractPidNamespaceImp (BowlerAbstractDevice device)

float	GetCachedPosition (int group)

void	SetCachedPosition (int group, float value)

void	flushPIDChannels (double time)

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

int	getNumberOfChannels ()

void	addPIDEventListener (IPIDEventListener l)

void	removePIDEventListener (IPIDEventListener l)

void	firePIDLimitEvent (PIDLimitEvent e)

void	firePIDEvent (PIDEvent e)

void	firePIDResetEvent (int group, float value)

BowlerAbstractDevice	getDevice ()

void	setDevice (BowlerAbstractDevice device)

PIDChannel	getPIDChannel (int group)

boolean	isAvailable ()

abstract void	onAsyncResponse (BowlerDatagram data)

ArrayList< PIDChannel >	getChannels ()

void	setChannels (ArrayList< PIDChannel > channels)

Integer	getChannelCount ()

void	setChannelCount (Integer channelCount)

Public Member Functions inherited from com.neuronrobotics.sdk.namespace.bcs.pid.IExtendedPIDControl
boolean	runOutputHysteresisCalibration (int group)

Public Member Functions inherited from com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace
boolean	ResetPIDChannel (int group, float valueToSetCurrentTo)

boolean	ConfigurePIDController (PIDConfiguration config)

PIDConfiguration	getPIDConfiguration (int group)

boolean	ConfigurePDVelovityController (PDVelocityConfiguration config)

PDVelocityConfiguration	getPDVelocityConfiguration (int group)

int	getPIDChannelCount ()

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

boolean	SetAllPIDSetPoint (float[]setpoints, double seconds)

float	GetPIDPosition (int group)

float[]	GetAllPIDPosition ()

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

boolean	killAllPidGroups ()

Protected Attributes
ArrayList< PIDChannel >	channels = null

long[]	lastPacketTime = null

Private Attributes
ArrayList< IPIDEventListener >	PIDEventListeners = new ArrayList<IPIDEventListener>()

BowlerAbstractDevice	device

Integer	channelCount =null

Detailed Description

The Class AbstractPidNamespaceImp.

Definition at line 18 of file AbstractPidNamespaceImp.java.

Constructor & Destructor Documentation

◆ AbstractPidNamespaceImp()

com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.AbstractPidNamespaceImp ( BowlerAbstractDevice device )

Instantiates a new abstract pid namespace imp.

Parameters

device the device

Definition at line 40 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.addPIDEventListener(), com.neuronrobotics.sdk.pid.PIDEvent.getGroup(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getPIDChannel(), com.neuronrobotics.sdk.pid.PIDEvent.getValue(), com.neuronrobotics.sdk.pid.PIDChannel.setCurrentCachedPosition(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.setDevice().

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Member Function Documentation

◆ addPIDEventListener()

void com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.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 113 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.PIDEventListeners.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.AbstractPidNamespaceImp(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.addPIDEventListener().

◆ firePIDEvent()

void com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.firePIDEvent ( PIDEvent e )

Fire pid event.

Parameters

e the e

Definition at line 147 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.common.Log.error(), com.neuronrobotics.sdk.pid.PIDEvent.getGroup(), com.neuronrobotics.sdk.pid.PIDEvent.getTimeStamp(), com.neuronrobotics.sdk.pid.PIDEvent.getValue(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.lastPacketTime, com.neuronrobotics.sdk.pid.IPIDEventListener.onPIDEvent(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.PIDEventListeners, and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.SetCachedPosition().

Referenced by com.neuronrobotics.sdk.pid.GenericPIDDevice.firePIDEvent(), com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.onAsyncResponse(), and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.onAsyncResponse().

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◆ firePIDLimitEvent()

void com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.firePIDLimitEvent ( PIDLimitEvent e )

Fire pid limit event.

Parameters

e the e

Definition at line 134 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.PIDEventListeners.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.onAsyncResponse(), and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.onAsyncResponse().

◆ firePIDResetEvent()

void com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.firePIDResetEvent	(	int	group,
		float	value
	)

Fire pid reset event.

Parameters

group	the group
value	the value

Definition at line 172 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.PIDEventListeners, and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.SetCachedPosition().

Referenced by com.neuronrobotics.sdk.pid.GenericPIDDevice.firePIDResetEvent(), and com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.ResetPIDChannel().

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◆ flushPIDChannels()

void com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.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 78 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.pid.PIDChannel.getCachedTargetValue(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getNumberOfChannels(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getPIDChannel(), com.neuronrobotics.sdk.common.Log.info(), and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetAllPIDSetPoint().

Referenced by com.neuronrobotics.sdk.pid.GenericPIDDevice.flushPIDChannels().

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◆ GetCachedPosition()

float com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.GetCachedPosition ( int group )

Gets the cached position.

Parameters

group the group

Returns: the int

Definition at line 58 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.pid.PIDChannel.getCurrentCachedPosition(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getPIDChannel().

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.SetPIDInterpolatedVelocity().

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◆ getChannelCount()

Integer com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getChannelCount ( )

Gets the channel count.

Returns: the channel count

Definition at line 258 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.channelCount.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.getPIDChannelCount().

◆ getChannels()

ArrayList<PIDChannel> com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getChannels ( )

Gets the channels.

Returns: the channels

Definition at line 232 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.channels, com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getPIDChannel(), and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.getPIDChannelCount().

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.GetAllPIDPosition(), com.neuronrobotics.sdk.pid.GenericPIDDevice.getChannels(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getNumberOfChannels(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getPIDChannel().

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◆ getDevice()

BowlerAbstractDevice com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getDevice ( )

Gets the device.

Returns: the device

Definition at line 184 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.device.

◆ getNumberOfChannels()

int com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getNumberOfChannels ( )

Gets the number of PID channels availible to the system. It is determined by how many PID channels the device reports back after a calling GetAllPIDPosition();

Returns: the number of channels

Definition at line 105 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getChannels().

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.flushPIDChannels(), com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.GetAllPIDPosition(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getPIDChannel(), com.neuronrobotics.sdk.pid.GenericPIDDevice.getPIDChannelCount(), com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.onAsyncResponse(), com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.onAsyncResponse(), and com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.SetAllPIDSetPoint().

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◆ getPIDChannel()

PIDChannel com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.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 200 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getChannels(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getNumberOfChannels().

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◆ isAvailable()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.isAvailable ( )

Checks to see if the PID controller object is connected with its device.

Returns: true, if is available

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

Definition at line 215 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.device, and com.neuronrobotics.sdk.common.BowlerAbstractDevice.isAvailable().

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◆ onAsyncResponse()

abstract void com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.onAsyncResponse ( BowlerDatagram data )

abstract

On async response.

Parameters

data the data

Reimplemented in com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, and com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.

Referenced by com.neuronrobotics.sdk.pid.GenericPIDDevice.onAsyncResponse().

◆ removePIDEventListener()

void com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.removePIDEventListener ( IPIDEventListener l )

Removes a specific IPIDEventListener.

Parameters

l the l

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

Definition at line 122 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.PIDEventListeners.

Referenced by com.neuronrobotics.sdk.pid.GenericPIDDevice.removePIDEventListener().

◆ SetCachedPosition()

void com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.SetCachedPosition	(	int	group,
		float	value
	)

Sets the cached position.

Parameters

group	the group
value	the value

Definition at line 68 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getPIDChannel(), and com.neuronrobotics.sdk.pid.PIDChannel.setCurrentCachedPosition().

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.firePIDEvent(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.firePIDResetEvent().

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◆ setChannelCount()

void com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.setChannelCount ( Integer channelCount )

Sets the channel count.

Parameters

channelCount the new channel count

Definition at line 268 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.channelCount.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.getPIDChannelCount(), and com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.VirtualGenericPIDDevice().

◆ setChannels()

void com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.setChannels ( ArrayList< PIDChannel > channels )

Sets the channels.

Parameters

channels the new channels

Definition at line 248 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.channels.

Referenced by com.neuronrobotics.sdk.pid.GenericPIDDevice.setChannels().

◆ setDevice()

void com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.setDevice ( BowlerAbstractDevice device )

Sets the device.

Parameters

device the new device

Definition at line 193 of file AbstractPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.device.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.AbstractPidNamespaceImp().

◆ SetPIDInterpolatedVelocity()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.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