com.neuronrobotics.sdk.pid.GenericPIDDevice Class Reference

Inheritance diagram for com.neuronrobotics.sdk.pid.GenericPIDDevice:

Collaboration diagram for com.neuronrobotics.sdk.pid.GenericPIDDevice:

Public Member Functions
	GenericPIDDevice ()
	GenericPIDDevice (BowlerAbstractConnection connection)
void	setConnection (BowlerAbstractConnection connection)
boolean	connect ()
boolean	ResetPIDChannel (int group, float valueToSetCurrentTo)
boolean	ConfigurePIDController (PIDConfiguration config)
PIDConfiguration	getPIDConfiguration (int group)
boolean	ConfigurePDVelovityController (PDVelocityConfiguration config)
PDVelocityConfiguration	getPDVelocityConfiguration (int group)
int	getPIDChannelCount ()
int	getNumberOfChannels ()
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 ()
void	onAsyncResponse (BowlerDatagram data)
ArrayList< PIDChannel >	getChannels ()
void	setChannels (ArrayList< PIDChannel > channels)
AbstractPidNamespaceImp	getImplementation ()
void	setImplementation (AbstractPidNamespaceImp implementation)
boolean	runOutputHysteresisCalibration (int group)
void	flush (double seconds)
Public Member Functions inherited from com.neuronrobotics.sdk.common.BowlerAbstractDevice
boolean	isAvailable () throws InvalidConnectionException
void	addConnectionEventListener (final IDeviceConnectionEventListener l)
void	removeConnectionEventListener (IDeviceConnectionEventListener l)
void	disconnect ()
BowlerAbstractConnection	getConnection ()
void	setAddress (MACAddress address)
MACAddress	getAddress ()
BowlerDatagram	send (BowlerAbstractCommand command) throws NoConnectionAvailableException, InvalidResponseException
BowlerDatagram	send (BowlerAbstractCommand command, int retry) throws NoConnectionAvailableException, InvalidResponseException
Object[]	send (String namespace, BowlerMethod method, String rpcString, Object[] arguments, int retry) throws DeviceConnectionException
Object[]	send (String namespace, BowlerMethod method, String rpcString, Object[] arguments) throws DeviceConnectionException
boolean	ping ()
boolean	ping (boolean switchParser)
ArrayList< ByteList >	getRevisions ()
ArrayList< String >	getNamespaces ()
boolean	hasNamespace (String string)
void	startHeartBeat ()
void	startHeartBeat (long msHeartBeatTime)
void	stopHeartBeat ()
void	setThreadedUpstreamPackets (boolean up)
ArrayList< RpcEncapsulation >	getRpcList (String namespace)
void	loadRpcList ()
void	onAllResponse (BowlerDatagram data)
boolean	isKeepAlive ()
void	setKeepAlive (boolean keepAlive)
long	getLastPacketTime ()
void	setLastPacketTime (long lastPacketTime)
String	getScriptingName ()
void	setScriptingName (String scriptingName)
ArrayList< IDeviceConnectionEventListener >	getDisconnectListeners ()
Public Member Functions inherited from com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace
boolean	isAvailable ()

Protected Member Functions
void	firePIDResetEvent (int group, float val)
void	firePIDEvent (PIDEvent pidEvent)
Protected Member Functions inherited from com.neuronrobotics.sdk.common.BowlerAbstractDevice
void	fireDisconnectEvent ()
void	fireConnectEvent ()

Private Member Functions
void	init ()

Private Attributes
boolean	isInit =false
AbstractPidNamespaceImp	implementation

Detailed Description

This class is a generic implementation of the PID system. This can be used as a template, superclass or internal object class for use with and device that implements the IPIDControl interface.

Author

hephaestus

Definition at line 23 of file GenericPIDDevice.java.

Constructor & Destructor Documentation

GenericPIDDevice() [1/2]

com.neuronrobotics.sdk.pid.GenericPIDDevice.GenericPIDDevice

(

)

Instantiates a new generic pid device.

Definition at line 34 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.common.MACAddress.BROADCAST, and com.neuronrobotics.sdk.common.BowlerAbstractDevice.setAddress().

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GenericPIDDevice() [2/2]

com.neuronrobotics.sdk.pid.GenericPIDDevice.GenericPIDDevice

(

BowlerAbstractConnection

connection

)

Instantiates a new generic pid device.

Parameters

connection

the connection

Definition at line 43 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.common.MACAddress.BROADCAST, com.neuronrobotics.sdk.common.BowlerAbstractDevice.connection, com.neuronrobotics.sdk.common.BowlerAbstractDevice.setAddress(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.setConnection().

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Member Function Documentation

addPIDEventListener()

void com.neuronrobotics.sdk.pid.GenericPIDDevice.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 177 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.addPIDEventListener(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.addPIDEventListener().

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ConfigurePDVelovityController()

boolean com.neuronrobotics.sdk.pid.GenericPIDDevice.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.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 111 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.ConfigurePDVelovityController(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.ConfigurePDVelovityController().

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ConfigurePIDController()

boolean com.neuronrobotics.sdk.pid.GenericPIDDevice.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.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 95 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.ConfigurePIDController(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.ConfigurePIDController().

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connect()

boolean com.neuronrobotics.sdk.pid.GenericPIDDevice.connect

(

)

This method tells the connection object to start and connects the up and down streams pipes. Once this method is called and returns without exception, the device is ready to communicate with

Returns

true, if successful

Exceptions

InvalidConnectionException

the invalid connection exception

Reimplemented from com.neuronrobotics.sdk.common.BowlerAbstractDevice.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 62 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.init().

Referenced by com.neuronrobotics.sdk.common.DeviceManager.addConnection(), and com.neuronrobotics.sdk.dyio.DyIO.connect().

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firePIDEvent()

void com.neuronrobotics.sdk.pid.GenericPIDDevice.firePIDEvent ( PIDEvent  pidEvent )

protected

Fire pid event.

Parameters

pidEvent

the pid event

Definition at line 254 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.firePIDEvent(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation().

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SyncThread.run().

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firePIDResetEvent()

void com.neuronrobotics.sdk.pid.GenericPIDDevice.firePIDResetEvent ( int  group, float  val  )

protected

Fire pid reset event.

Parameters

group	the group
val	the val

Definition at line 245 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.firePIDResetEvent(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation().

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.ResetPIDChannel().

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flush()

void com.neuronrobotics.sdk.pid.GenericPIDDevice.flush

(

double

seconds

)

This interface says the device can cache values and flush them in one push

Parameters

seconds

the duration of the flush, from current position and time to cached positions in this many seconds

Implements com.neuronrobotics.sdk.common.IFlushable.

Definition at line 326 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.flushPIDChannels().

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flushPIDChannels()

void com.neuronrobotics.sdk.pid.GenericPIDDevice.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.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 193 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.flushPIDChannels(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation().

Referenced by com.neuronrobotics.sdk.pid.GenericPIDDevice.flush(), and com.neuronrobotics.sdk.dyio.DyIO.flushPIDChannels().

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GetAllPIDPosition()

float [] com.neuronrobotics.sdk.pid.GenericPIDDevice.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.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 169 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.GetAllPIDPosition(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.GetAllPIDPosition().

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getChannels()

ArrayList<PIDChannel> com.neuronrobotics.sdk.pid.GenericPIDDevice.getChannels

(

)

Gets the channels.

Returns

the channels

Definition at line 263 of file GenericPIDDevice.java.

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

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.flushPIDChannels(), and com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.GetAllPIDPosition().

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getImplementation()

AbstractPidNamespaceImp com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation

(

)

Gets the implementation.

Returns

the implementation

Definition at line 281 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.hasNamespace(), com.neuronrobotics.sdk.pid.GenericPIDDevice.implementation, and com.neuronrobotics.sdk.pid.GenericPIDDevice.setImplementation().

Referenced by com.neuronrobotics.sdk.pid.GenericPIDDevice.addPIDEventListener(), com.neuronrobotics.sdk.pid.GenericPIDDevice.ConfigurePDVelovityController(), com.neuronrobotics.sdk.pid.GenericPIDDevice.ConfigurePIDController(), com.neuronrobotics.sdk.pid.GenericPIDDevice.firePIDEvent(), com.neuronrobotics.sdk.pid.GenericPIDDevice.firePIDResetEvent(), com.neuronrobotics.sdk.pid.GenericPIDDevice.flushPIDChannels(), com.neuronrobotics.sdk.pid.GenericPIDDevice.GetAllPIDPosition(), com.neuronrobotics.sdk.pid.GenericPIDDevice.getChannels(), com.neuronrobotics.sdk.pid.GenericPIDDevice.getPDVelocityConfiguration(), com.neuronrobotics.sdk.pid.GenericPIDDevice.getPIDChannel(), com.neuronrobotics.sdk.pid.GenericPIDDevice.getPIDChannelCount(), com.neuronrobotics.sdk.pid.GenericPIDDevice.getPIDConfiguration(), com.neuronrobotics.sdk.pid.GenericPIDDevice.GetPIDPosition(), com.neuronrobotics.sdk.pid.GenericPIDDevice.init(), com.neuronrobotics.sdk.pid.GenericPIDDevice.killAllPidGroups(), com.neuronrobotics.sdk.pid.GenericPIDDevice.onAsyncResponse(), com.neuronrobotics.sdk.pid.GenericPIDDevice.removePIDEventListener(), com.neuronrobotics.sdk.pid.GenericPIDDevice.ResetPIDChannel(), com.neuronrobotics.sdk.pid.GenericPIDDevice.runOutputHysteresisCalibration(), com.neuronrobotics.sdk.pid.GenericPIDDevice.SetAllPIDSetPoint(), com.neuronrobotics.sdk.pid.GenericPIDDevice.setChannels(), com.neuronrobotics.sdk.pid.GenericPIDDevice.SetPDVelocity(), com.neuronrobotics.sdk.pid.GenericPIDDevice.SetPIDInterpolatedVelocity(), com.neuronrobotics.sdk.pid.GenericPIDDevice.SetPIDSetPoint(), and com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.VirtualGenericPIDDevice().

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getNumberOfChannels()

int com.neuronrobotics.sdk.pid.GenericPIDDevice.getNumberOfChannels

(

)

Gets the number of channels.

Returns

the number of channels

Definition at line 137 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getPIDChannelCount().

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getPDVelocityConfiguration()

PDVelocityConfiguration com.neuronrobotics.sdk.pid.GenericPIDDevice.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.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 119 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.getPDVelocityConfiguration().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getPDVelocityConfiguration().

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getPIDChannel()

PIDChannel com.neuronrobotics.sdk.pid.GenericPIDDevice.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 219 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getPIDChannel().

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.flushPIDChannels(), and com.neuronrobotics.sdk.dyio.DyIO.getPIDChannel().

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getPIDChannelCount()

int com.neuronrobotics.sdk.pid.GenericPIDDevice.getPIDChannelCount

(

)

Requests the current number of PID channels.

Returns

the PID channel count

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

Definition at line 127 of file GenericPIDDevice.java.

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

Referenced by com.neuronrobotics.sdk.pid.GenericPIDDevice.getNumberOfChannels(), and com.neuronrobotics.sdk.dyio.DyIO.getPIDChannelCount().

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getPIDConfiguration()

PIDConfiguration com.neuronrobotics.sdk.pid.GenericPIDDevice.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.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 103 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.getPIDConfiguration().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.getPIDConfiguration().

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GetPIDPosition()

float com.neuronrobotics.sdk.pid.GenericPIDDevice.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.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 161 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.GetPIDPosition().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.GetPIDPosition().

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init()

void com.neuronrobotics.sdk.pid.GenericPIDDevice.init ( )

private

Inits the.

Definition at line 73 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.isInit.

Referenced by com.neuronrobotics.sdk.pid.GenericPIDDevice.connect(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.setConnection().

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killAllPidGroups()

boolean com.neuronrobotics.sdk.pid.GenericPIDDevice.killAllPidGroups

(

)

Sends a single packet to stop all PID groups at once.

Returns

true, if successful

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

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 227 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.killAllPidGroups().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.killAllPidGroups().

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onAsyncResponse()

void com.neuronrobotics.sdk.pid.GenericPIDDevice.onAsyncResponse

(

BowlerDatagram

data

)

On async response.

Parameters

data

the data

Implements com.neuronrobotics.sdk.common.IBowlerDatagramListener.

Definition at line 235 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.onAsyncResponse().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.onAsyncResponse().

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removePIDEventListener()

void com.neuronrobotics.sdk.pid.GenericPIDDevice.removePIDEventListener

(

IPIDEventListener

l

)

Removes a specific IPIDEventListener.

Parameters

l

the l

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

Definition at line 185 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.removePIDEventListener().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.removePIDEventListener().

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ResetPIDChannel()

boolean com.neuronrobotics.sdk.pid.GenericPIDDevice.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.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 87 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.ResetPIDChannel().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.ResetPIDChannel().

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runOutputHysteresisCalibration()

boolean com.neuronrobotics.sdk.pid.GenericPIDDevice.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 315 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.common.Log.error(), com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.IExtendedPIDControl.runOutputHysteresisCalibration().

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SetAllPIDSetPoint()

boolean com.neuronrobotics.sdk.pid.GenericPIDDevice.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.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 153 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetAllPIDSetPoint().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.SetAllPIDSetPoint().

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setChannels()

void com.neuronrobotics.sdk.pid.GenericPIDDevice.setChannels

(

ArrayList< PIDChannel >

channels

)

Sets the channels.

Parameters

channels

the new channels

Definition at line 272 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.setChannels().

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.GetAllPIDPosition().

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setConnection()

void com.neuronrobotics.sdk.pid.GenericPIDDevice.setConnection

(

BowlerAbstractConnection

connection

)

Sets the connection.

Parameters

connection

the new connection

Reimplemented from com.neuronrobotics.sdk.common.BowlerAbstractDevice.

Definition at line 52 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.connection, com.neuronrobotics.sdk.pid.GenericPIDDevice.init(), and com.neuronrobotics.sdk.common.BowlerAbstractConnection.isConnected().

Referenced by com.neuronrobotics.sdk.common.DeviceManager.addConnection(), com.neuronrobotics.sdk.dyio.DyIO.connect(), com.neuronrobotics.sdk.dyio.DyIO.DyIO(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.GenericPIDDevice().

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setImplementation()

void com.neuronrobotics.sdk.pid.GenericPIDDevice.setImplementation

(

AbstractPidNamespaceImp

implementation

)

Sets the implementation.

Parameters

implementation

the new implementation

Definition at line 307 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.implementation.

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

SetPDVelocity()

boolean com.neuronrobotics.sdk.pid.GenericPIDDevice.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.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 210 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetPDVelocity().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.SetPDVelocity().

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SetPIDInterpolatedVelocity()

boolean com.neuronrobotics.sdk.pid.GenericPIDDevice.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 201 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.SetPIDInterpolatedVelocity().

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SetPDVelocity(), and com.neuronrobotics.sdk.dyio.DyIO.SetPIDInterpolatedVelocity().

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SetPIDSetPoint()

boolean com.neuronrobotics.sdk.pid.GenericPIDDevice.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.

Reimplemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.

Definition at line 145 of file GenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.SetPIDSetPoint().

Referenced by com.neuronrobotics.sdk.dyio.DyIO.SetPIDSetPoint().

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Member Data Documentation

implementation

AbstractPidNamespaceImp com.neuronrobotics.sdk.pid.GenericPIDDevice.implementation

private

The implementation.

Definition at line 29 of file GenericPIDDevice.java.

Referenced by com.neuronrobotics.sdk.pid.GenericPIDDevice.getImplementation(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.setImplementation().

isInit

boolean com.neuronrobotics.sdk.pid.GenericPIDDevice.isInit =false

private

The is init.

Definition at line 26 of file GenericPIDDevice.java.

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

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

• java-bowler/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java