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

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

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Classes
class	SyncThread

Public Member Functions
	VirtualGenericPIDDevice (String myVirtualDevName)

	VirtualGenericPIDDevice (double maxTicksPerSecond, String myVirtualDevName)

boolean	ConfigurePDVelovityController (PDVelocityConfiguration config)

PDVelocityConfiguration	getPDVelocityConfiguration (int group)

boolean	ConfigurePIDController (PIDConfiguration config)

PIDConfiguration	getPIDConfiguration (int group)

ArrayList< String >	getNamespaces ()

boolean	killAllPidGroups ()

BowlerDatagram	send (BowlerAbstractCommand command) throws NoConnectionAvailableException, InvalidResponseException

boolean	ResetPIDChannel (int group, float valueToSetCurrentTo)

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

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

void	flushPIDChannels (double time)

boolean	SetAllPIDSetPoint (float[] setpoints, double seconds)

float	GetPIDPosition (int group)

boolean	isAvailable ()

float[]	GetAllPIDPosition ()

void	setMaxTicksPerSecond (double maxTicksPerSecond)

double	getMaxTicksPerSecond ()

boolean	connect ()

void	disconnect ()

Public Member Functions inherited from com.neuronrobotics.sdk.pid.GenericPIDDevice
	GenericPIDDevice ()

	GenericPIDDevice (BowlerAbstractConnection connection)

void	setConnection (BowlerAbstractConnection connection)

int	getPIDChannelCount ()

int	getNumberOfChannels ()

void	addPIDEventListener (IPIDEventListener l)

void	removePIDEventListener (IPIDEventListener l)

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

PIDChannel	getPIDChannel (int group)

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
void	addConnectionEventListener (final IDeviceConnectionEventListener l)

void	removeConnectionEventListener (IDeviceConnectionEventListener l)

BowlerAbstractConnection	getConnection ()

void	setAddress (MACAddress address)

MACAddress	getAddress ()

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 ()

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.addons.kinematics.IHardwareSyncPulseProvider
default void	addIHardwareSyncPulseReciver (IHardwareSyncPulseReciver r)

default void	removeIHardwareSyncPulseReciver (IHardwareSyncPulseReciver r)

default void	doSync ()

default ArrayList< IHardwareSyncPulseReciver >	getListeners ()

Private Member Functions
InterpolationEngine	getDriveThread (int i)

Private Attributes
HashMap< PIDConfiguration, InterpolationEngine >	interpolationEngines = new HashMap<>()

HashMap< Integer, PIDConfiguration >	configs = new HashMap<>()

ArrayList< PDVelocityConfiguration >	PDconfigs = new ArrayList<PDVelocityConfiguration>()

SyncThread	sync = new SyncThread()

boolean	runSync =true

double	maxTicksPerSecond

int	numChannels = 40

float[]	backs

String	myVirtualDevName

Static Private Attributes
static final long	threadTime = 10

Additional Inherited Members
Public Attributes inherited from com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider
HashMap< IHardwareSyncPulseProvider, ArrayList< IHardwareSyncPulseReciver > >	syncPulse =new HashMap<>()

Protected Member Functions inherited from com.neuronrobotics.sdk.pid.GenericPIDDevice
void	firePIDResetEvent (int group, float val)

void	firePIDEvent (PIDEvent pidEvent)

Protected Member Functions inherited from com.neuronrobotics.sdk.common.BowlerAbstractDevice
void	fireDisconnectEvent ()

void	fireConnectEvent ()

Detailed Description

The Class VirtualGenericPIDDevice.

Definition at line 20 of file VirtualGenericPIDDevice.java.

Constructor & Destructor Documentation

◆ VirtualGenericPIDDevice() [1/2]

com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.VirtualGenericPIDDevice ( String myVirtualDevName )

Instantiates a new virtual generic pid device.

Parameters

myVirtualDevName

Definition at line 53 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.myVirtualDevName.

◆ VirtualGenericPIDDevice() [2/2]

com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.VirtualGenericPIDDevice	(	double	maxTicksPerSecond,
		String	myVirtualDevName
	)

Instantiates a new virtual generic pid device.

Parameters

maxTicksPerSecond	the max ticks per second
myVirtualDevName2

Definition at line 63 of file VirtualGenericPIDDevice.java.

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Member Function Documentation

◆ ConfigurePDVelovityController()

boolean com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.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

Reimplemented from com.neuronrobotics.sdk.pid.GenericPIDDevice.

Definition at line 89 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.PDVelocityConfiguration.getGroup(), and com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.PDconfigs.

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◆ ConfigurePIDController()

boolean com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.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

Reimplemented from com.neuronrobotics.sdk.pid.GenericPIDDevice.

Definition at line 112 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.configs, and com.neuronrobotics.sdk.pid.PIDConfiguration.getGroup().

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◆ connect()

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

Definition at line 434 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.fireConnectEvent().

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◆ disconnect()

void com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.disconnect ( )

This method tells the connection object to disconnect its pipes and close out the connection. Once this is called, it is safe to remove your device.

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

Definition at line 444 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.common.BowlerAbstractDevice.fireDisconnectEvent(), and com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.runSync.

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◆ flushPIDChannels()

void com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.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

Reimplemented from com.neuronrobotics.sdk.pid.GenericPIDDevice.

Definition at line 233 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.PIDChannel.getCachedTargetValue(), com.neuronrobotics.sdk.pid.GenericPIDDevice.getChannels(), com.neuronrobotics.sdk.pid.GenericPIDDevice.getPIDChannel(), com.neuronrobotics.sdk.common.Log.info(), and com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SetAllPIDSetPoint().

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◆ GetAllPIDPosition()

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

Reimplemented from com.neuronrobotics.sdk.pid.GenericPIDDevice.

Definition at line 301 of file VirtualGenericPIDDevice.java.

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

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◆ getDriveThread()

InterpolationEngine com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.getDriveThread ( int i )

private

Definition at line 261 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.interpolationEngines.

Referenced by com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.GetPIDPosition(), com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.ResetPIDChannel(), com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SetAllPIDSetPoint(), com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SetPDVelocity(), and com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SetPIDSetPoint().

◆ getMaxTicksPerSecond()

double com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.getMaxTicksPerSecond ( )

Gets the max ticks per second.

Returns: the max ticks per second

Definition at line 343 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.maxTicksPerSecond.

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

◆ getNamespaces()

ArrayList<String> com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.getNamespaces ( )

Get all the namespaces.

Returns: the namespaces

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

Definition at line 133 of file VirtualGenericPIDDevice.java.

◆ getPDVelocityConfiguration()

PDVelocityConfiguration com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.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

Reimplemented from com.neuronrobotics.sdk.pid.GenericPIDDevice.

Definition at line 102 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.PDconfigs.

◆ getPIDConfiguration()

PIDConfiguration com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.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

Reimplemented from com.neuronrobotics.sdk.pid.GenericPIDDevice.

Definition at line 123 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.configs.

◆ GetPIDPosition()

float com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.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

Reimplemented from com.neuronrobotics.sdk.pid.GenericPIDDevice.

Definition at line 280 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.getDriveThread(), and com.neuronrobotics.sdk.pid.InterpolationEngine.getPosition().

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

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◆ isAvailable()

boolean com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.isAvailable ( )

Determines if the device is available.

Returns: true if the device is avaiable, false if it is not

Exceptions

InvalidConnectionException the invalid connection exception

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

Definition at line 291 of file VirtualGenericPIDDevice.java.

◆ killAllPidGroups()

boolean com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.killAllPidGroups ( )

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

Returns: true, if successful

Reimplemented from com.neuronrobotics.sdk.pid.GenericPIDDevice.

Definition at line 145 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.configs.

◆ ResetPIDChannel()

boolean com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.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

Reimplemented from com.neuronrobotics.sdk.pid.GenericPIDDevice.

Definition at line 173 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.GenericPIDDevice.firePIDResetEvent(), com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.getDriveThread(), com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.GetPIDPosition(), com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.interpolationEngines, com.neuronrobotics.sdk.pid.InterpolationEngine.ResetEncoder(), com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SyncThread.setPause(), and com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.sync.

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◆ send()

BowlerDatagram com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.send ( BowlerAbstractCommand command ) throws NoConnectionAvailableException, InvalidResponseException

since there is no connection, this is an easy to nip off com functionality.

Parameters

command the command

Returns: the bowler datagram

Exceptions

NoConnectionAvailableException	the no connection available exception
InvalidResponseException	the invalid response exception

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

Definition at line 160 of file VirtualGenericPIDDevice.java.

◆ SetAllPIDSetPoint()

boolean com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.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

Reimplemented from com.neuronrobotics.sdk.pid.GenericPIDDevice.

Definition at line 249 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.getDriveThread(), com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.interpolationEngines, com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.SyncThread.setPause(), com.neuronrobotics.sdk.pid.InterpolationEngine.StartLinearMotion(), and com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.sync.

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

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◆ setMaxTicksPerSecond()

void com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.setMaxTicksPerSecond ( double maxTicksPerSecond )

Sets the max ticks per second.

Parameters

maxTicksPerSecond the new max ticks per second

Definition at line 334 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.maxTicksPerSecond.

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

◆ SetPDVelocity()

boolean com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.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

Reimplemented from com.neuronrobotics.sdk.pid.GenericPIDDevice.

Definition at line 208 of file VirtualGenericPIDDevice.java.

References com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.getDriveThread(), com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.getMaxTicksPerSecond(), com.neuronrobotics.sdk.pid.GenericPIDDevice.SetPIDInterpolatedVelocity(), and com.neuronrobotics.sdk.pid.InterpolationEngine.SetVelocity().

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◆ SetPIDSetPoint()

boolean com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice.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.