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

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

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Public Member Functions
	PidDeviceServerNamespace (MACAddress addr, IPidControlNamespace device)

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 ()

void	addPIDEventListener (IPIDEventListener l)

void	removePIDEventListener (IPIDEventListener l)

void	flushPIDChannels (double time)

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

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

PIDChannel	getPIDChannel (int group)

boolean	killAllPidGroups ()

boolean	isAvailable ()

Public Member Functions inherited from com.neuronrobotics.sdk.common.device.server.BowlerAbstractDeviceServerNamespace
	BowlerAbstractDeviceServerNamespace (MACAddress addr, String namespaceString)

boolean	checkRpc (BowlerDatagram data)

String	getNamespace ()

ArrayList< RpcEncapsulation >	getRpcList ()

void	addRpc (RpcEncapsulation newRpc)

MACAddress	getAddress ()

BowlerDatagram	process (BowlerDatagram data)

int	getNamespaceIndex ()

void	setNamespaceIndex (int ns)

Private Attributes
IPidControlNamespace	device

Additional Inherited Members
Protected Attributes inherited from com.neuronrobotics.sdk.common.device.server.BowlerAbstractDeviceServerNamespace
ArrayList< RpcEncapsulation >	rpc =new ArrayList<RpcEncapsulation>()

final String	ns

Detailed Description

The Class PidDeviceServerNamespace.

Definition at line 21 of file PidDeviceServerNamespace.java.

Constructor & Destructor Documentation

◆ PidDeviceServerNamespace()

com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.PidDeviceServerNamespace	(	MACAddress	addr,
		IPidControlNamespace	device
	)

Instantiates a new pid device server namespace.

Parameters

addr	the addr
device	the device

Definition at line 32 of file PidDeviceServerNamespace.java.

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Member Function Documentation

◆ addPIDEventListener()

void com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 393 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.addPIDEventListener(), and com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device.

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◆ ConfigurePDVelovityController()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 337 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.ConfigurePDVelovityController(), and com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device.

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

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◆ ConfigurePIDController()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 321 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.ConfigurePIDController(), and com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device.

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

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◆ flushPIDChannels()

void com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 409 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.flushPIDChannels().

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◆ GetAllPIDPosition()

float [] com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 385 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.GetAllPIDPosition().

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

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◆ getPDVelocityConfiguration()

PDVelocityConfiguration com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 345 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.getPDVelocityConfiguration().

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

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◆ getPIDChannel()

PIDChannel com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 435 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.getPIDChannel().

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◆ getPIDChannelCount()

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

Requests the current number of PID channels.

Returns: the PID channel count

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

Definition at line 353 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.getPIDChannelCount().

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

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◆ getPIDConfiguration()

PIDConfiguration com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 329 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.getPIDConfiguration().

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

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◆ GetPIDPosition()

float com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 377 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.GetPIDPosition().

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

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◆ isAvailable()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 451 of file PidDeviceServerNamespace.java.

◆ killAllPidGroups()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 443 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.killAllPidGroups().

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

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◆ removePIDEventListener()

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

Removes a specific IPIDEventListener.

Parameters

l the l

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

Definition at line 401 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.removePIDEventListener().

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◆ ResetPIDChannel()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 313 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.ResetPIDChannel().

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

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◆ SetAllPIDSetPoint()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 369 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetAllPIDSetPoint().

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

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◆ SetPDVelocity()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 426 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetPDVelocity().

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

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◆ SetPIDInterpolatedVelocity()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 417 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetPIDInterpolatedVelocity().

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◆ SetPIDSetPoint()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.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 361 of file PidDeviceServerNamespace.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device, and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetPIDSetPoint().

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

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Member Data Documentation

◆ device

IPidControlNamespace com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.device

private

The device.

Definition at line 24 of file PidDeviceServerNamespace.java.

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

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PidDeviceServerNamespace()

Member Function Documentation

◆ addPIDEventListener()

◆ ConfigurePDVelovityController()

◆ ConfigurePIDController()

◆ flushPIDChannels()

◆ GetAllPIDPosition()

◆ getPDVelocityConfiguration()

◆ getPIDChannel()

◆ getPIDChannelCount()

◆ getPIDConfiguration()

◆ GetPIDPosition()

◆ isAvailable()

◆ killAllPidGroups()

◆ removePIDEventListener()

◆ ResetPIDChannel()

◆ SetAllPIDSetPoint()

◆ SetPDVelocity()

◆ SetPIDInterpolatedVelocity()

◆ SetPIDSetPoint()

Member Data Documentation

◆ device