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

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

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Public Member Functions
	LegacyPidNamespaceImp (BowlerAbstractDevice device)

void	onAsyncResponse (BowlerDatagram data)

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 ()

boolean	runOutputHysteresisCalibration (int group)

Public Member Functions inherited from com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp
	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 ()

ArrayList< PIDChannel >	getChannels ()

void	setChannels (ArrayList< PIDChannel > channels)

Integer	getChannelCount ()

void	setChannelCount (Integer channelCount)

Additional Inherited Members
Protected Attributes inherited from com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp
ArrayList< PIDChannel >	channels = null

long[]	lastPacketTime = null

Detailed Description

The Class LegacyPidNamespaceImp.

Definition at line 26 of file LegacyPidNamespaceImp.java.

Constructor & Destructor Documentation

◆ LegacyPidNamespaceImp()

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

Instantiates a new legacy pid namespace imp.

Parameters

device the device

Definition at line 34 of file LegacyPidNamespaceImp.java.

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

Member Function Documentation

◆ ConfigurePDVelovityController()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.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 100 of file LegacyPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getDevice(), and com.neuronrobotics.sdk.common.BowlerAbstractDevice.send().

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◆ ConfigurePIDController()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.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 82 of file LegacyPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getDevice(), and com.neuronrobotics.sdk.common.BowlerAbstractDevice.send().

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◆ GetAllPIDPosition()

float [] com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.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 172 of file LegacyPidNamespaceImp.java.

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◆ getPDVelocityConfiguration()

PDVelocityConfiguration com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.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 108 of file LegacyPidNamespaceImp.java.

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

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◆ getPIDChannelCount()

int com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.getPIDChannelCount ( )

Requests the current number of PID channels.

Returns: the PID channel count

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

Definition at line 117 of file LegacyPidNamespaceImp.java.

References com.neuronrobotics.sdk.common.ByteList.convertToInt(), com.neuronrobotics.sdk.common.ByteList.getBytes(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getChannelCount(), com.neuronrobotics.sdk.common.BowlerDatagram.getData(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getDevice(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.send(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.setChannelCount().

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◆ getPIDConfiguration()

PIDConfiguration com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.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 90 of file LegacyPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getDevice(), and com.neuronrobotics.sdk.common.BowlerAbstractDevice.send().

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◆ GetPIDPosition()

float com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.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 162 of file LegacyPidNamespaceImp.java.

References com.neuronrobotics.sdk.common.ByteList.convertToInt(), com.neuronrobotics.sdk.common.ByteList.getBytes(), com.neuronrobotics.sdk.common.BowlerDatagram.getData(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getDevice(), and com.neuronrobotics.sdk.common.BowlerAbstractDevice.send().

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

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◆ killAllPidGroups()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.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 213 of file LegacyPidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.getConnection(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getDevice(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.send(), and com.neuronrobotics.sdk.common.BowlerAbstractConnection.setSynchronusPacketTimeoutTime().

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◆ onAsyncResponse()

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

On async response.

Parameters

data the data

Reimplemented from com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.

Definition at line 41 of file LegacyPidNamespaceImp.java.

References com.neuronrobotics.sdk.common.ByteList.convertToInt(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.firePIDEvent(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.firePIDLimitEvent(), com.neuronrobotics.sdk.common.ByteList.getBytes(), com.neuronrobotics.sdk.common.BowlerDatagram.getData(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getNumberOfChannels(), and com.neuronrobotics.sdk.common.BowlerDatagram.getRPC().

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◆ ResetPIDChannel()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.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 68 of file LegacyPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.firePIDResetEvent(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getDevice(), com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.GetPIDPosition(), and com.neuronrobotics.sdk.common.BowlerAbstractDevice.send().

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◆ runOutputHysteresisCalibration()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.runOutputHysteresisCalibration ( int group )

Run output hysteresis calibration.

Parameters

group the group

Returns: true, if successful

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

Definition at line 222 of file LegacyPidNamespaceImp.java.

◆ SetAllPIDSetPoint()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.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 139 of file LegacyPidNamespaceImp.java.

References com.neuronrobotics.sdk.pid.PIDChannel.getCachedTargetValue(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getDevice(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getNumberOfChannels(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getPIDChannel(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.send(), and com.neuronrobotics.sdk.pid.PIDChannel.setCachedTargetValue().

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◆ SetPDVelocity()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.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 198 of file LegacyPidNamespaceImp.java.

References com.neuronrobotics.sdk.common.Log.debug(), com.neuronrobotics.sdk.common.Log.error(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getDevice(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.send(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.SetPIDInterpolatedVelocity().

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◆ SetPIDSetPoint()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp.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 129 of file LegacyPidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getDevice(), com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getPIDChannel(), com.neuronrobotics.sdk.common.Log.info(), com.neuronrobotics.sdk.common.BowlerAbstractDevice.send(), and com.neuronrobotics.sdk.pid.PIDChannel.setCachedTargetValue().

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

java-bowler/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/LegacyPidNamespaceImp.java

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LegacyPidNamespaceImp()

Member Function Documentation

◆ ConfigurePDVelovityController()

◆ ConfigurePIDController()

◆ GetAllPIDPosition()

◆ getPDVelocityConfiguration()

◆ getPIDChannelCount()

◆ getPIDConfiguration()

◆ GetPIDPosition()

◆ killAllPidGroups()

◆ onAsyncResponse()

◆ ResetPIDChannel()

◆ runOutputHysteresisCalibration()

◆ SetAllPIDSetPoint()

◆ SetPDVelocity()

◆ SetPIDSetPoint()