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

[legend]

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

[legend]

Public Member Functions
	PidNamespaceImp (BowlerAbstractDevice device)

boolean	ResetPIDChannel (int group, float valueToSetCurrentTo) throws DeviceConnectionException

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 ()

void	onAsyncResponse (BowlerDatagram data)

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)

Private Member Functions
Object[]	send (BowlerMethod method, String rpcString, Object[] arguments)

Private Attributes
final String	ns = "bcs.pid.*"

Integer	channelCount =null

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 PidNamespaceImp.

Definition at line 18 of file PidNamespaceImp.java.

Constructor & Destructor Documentation

◆ PidNamespaceImp()

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

Instantiates a new pid namespace imp.

Parameters

device the device

Definition at line 30 of file PidNamespaceImp.java.

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

Member Function Documentation

◆ ConfigurePDVelovityController()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.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 84 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.CRITICAL, com.neuronrobotics.sdk.pid.PDVelocityConfiguration.getArgs(), and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ ConfigurePIDController()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.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 62 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.CRITICAL, com.neuronrobotics.sdk.pid.PIDConfiguration.getArgs(), and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ GetAllPIDPosition()

float [] com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.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 162 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.GET, and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ getPDVelocityConfiguration()

PDVelocityConfiguration com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.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 95 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.GET, and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ getPIDChannelCount()

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

Requests the current number of PID channels.

Returns: the PID channel count

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

Definition at line 109 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.channelCount, com.neuronrobotics.sdk.common.BowlerMethod.GET, and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ getPIDConfiguration()

PIDConfiguration com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.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 73 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.GET, and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ GetPIDPosition()

float com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.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 148 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.GET, and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ killAllPidGroups()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.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 191 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.CRITICAL, and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ onAsyncResponse()

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

On async response.

Parameters

data the data

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

Definition at line 202 of file PidNamespaceImp.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().

Here is the call graph for this function:

◆ ResetPIDChannel()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.ResetPIDChannel	(	int	group,
		float	valueToSetCurrentTo
	)		throws DeviceConnectionException

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 50 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.POST, and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ runOutputHysteresisCalibration()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.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 227 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.POST, and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ send()

Object [] com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send	(	BowlerMethod	method,
		String	rpcString,
		Object[]	arguments
	)

private

Send.

Parameters

method	the method
rpcString	the rpc string
arguments	the arguments

Returns: the object[]

Definition at line 42 of file PidNamespaceImp.java.

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

Here is the call graph for this function:

◆ SetAllPIDSetPoint()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.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 136 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.POST, and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ SetPDVelocity()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.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 178 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.POST, and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

◆ SetPIDSetPoint()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.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 123 of file PidNamespaceImp.java.

References com.neuronrobotics.sdk.common.BowlerMethod.POST, and com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

Here is the call graph for this function:

Member Data Documentation

◆ channelCount

Integer com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.channelCount =null

private

The channel count.

Definition at line 103 of file PidNamespaceImp.java.

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

◆ ns

final String com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.ns = "bcs.pid.*"

private

The ns.

Definition at line 21 of file PidNamespaceImp.java.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp.send().

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

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PidNamespaceImp()

Member Function Documentation

◆ ConfigurePDVelovityController()

◆ ConfigurePIDController()

◆ GetAllPIDPosition()

◆ getPDVelocityConfiguration()

◆ getPIDChannelCount()

◆ getPIDConfiguration()

◆ GetPIDPosition()

◆ killAllPidGroups()

◆ onAsyncResponse()

◆ ResetPIDChannel()

◆ runOutputHysteresisCalibration()

◆ send()

◆ SetAllPIDSetPoint()

◆ SetPDVelocity()

◆ SetPIDSetPoint()

Member Data Documentation

◆ channelCount

◆ ns