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

[legend]

Public Member Functions
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 ()

Detailed Description

The Interface IPidControlNamespace.

Definition at line 13 of file IPidControlNamespace.java.

Member Function Documentation

◆ addPIDEventListener()

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

Implemented in com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.addPIDEventListener(), com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServer.PidDeviceServer(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDevice(), and com.neuronrobotics.sdk.pid.PIDChannel.setPid().

◆ ConfigurePDVelovityController()

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

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.ConfigurePDVelovityController(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.ConfigurePDVelovityController().

◆ ConfigurePIDController()

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

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.ConfigurePIDController(), com.neuronrobotics.sdk.pid.GenericPIDDevice.ConfigurePIDController(), com.neuronrobotics.sdk.pid.PIDChannel.ConfigurePIDController(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDevice().

◆ flushPIDChannels()

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

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.addons.kinematics.PidPrismaticLink.flushAllDevice(), com.neuronrobotics.sdk.addons.kinematics.PidRotoryLink.flushAllDevice(), and com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.flushPIDChannels().

◆ GetAllPIDPosition()

float [] com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.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

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.GetAllPIDPosition(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.GetAllPIDPosition().

◆ getPDVelocityConfiguration()

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

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.getPDVelocityConfiguration(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.getPDVelocityConfiguration().

◆ getPIDChannel()

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

Implemented in com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.getPIDChannel(), and com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.homeLink().

◆ getPIDChannelCount()

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

Requests the current number of PID channels.

Returns: the PID channel count

Implemented in com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.getChannels(), and com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.getPIDChannelCount().

◆ getPIDConfiguration()

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

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.pid.PIDChannel.getPIDConfiguration(), com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.getPIDConfiguration(), com.neuronrobotics.sdk.pid.GenericPIDDevice.getPIDConfiguration(), com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.setDevice(), and com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration.setPidConfiguration().

◆ GetPIDPosition()

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

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.pid.PIDChannel.GetPIDPosition(), com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.GetPIDPosition(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.GetPIDPosition().

◆ isAvailable()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.isAvailable ( )

Checks to see if the PID controller object is connected with its device.

Returns: true, if is available

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.pid.PIDChannel.isAvailable().

◆ killAllPidGroups()

boolean com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace.killAllPidGroups ( )

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

Returns: true, if successful

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.killAllPidGroups(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.killAllPidGroups().

◆ removePIDEventListener()

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

Removes a specific IPIDEventListener.

Parameters

l the l

Implemented in com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

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

◆ ResetPIDChannel()

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

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.pid.PIDChannel.ResetPIDChannel(), com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.ResetPIDChannel(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.ResetPIDChannel().

◆ SetAllPIDSetPoint()

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

Implemented in com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, com.neuronrobotics.sdk.dyio.DyIO, com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, and com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.flushPIDChannels(), com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.SetAllPIDSetPoint(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.SetAllPIDSetPoint().

◆ SetPDVelocity()

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

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.SetPDVelocity(), com.neuronrobotics.sdk.pid.GenericPIDDevice.SetPDVelocity(), and com.neuronrobotics.sdk.pid.PIDChannel.SetPDVelocity().

◆ SetPIDInterpolatedVelocity()

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

Implemented in com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.SetPIDInterpolatedVelocity(), and com.neuronrobotics.sdk.pid.PIDChannel.SetPIDInterpolatedVelocity().

◆ SetPIDSetPoint()

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

Implemented in com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice, com.neuronrobotics.sdk.pid.GenericPIDDevice, com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp, com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace, com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp, and com.neuronrobotics.sdk.dyio.DyIO.

Referenced by com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp.SetPIDInterpolatedVelocity(), com.neuronrobotics.sdk.pid.PIDChannel.SetPIDSetPoint(), com.neuronrobotics.sdk.namespace.bcs.pid.PidDeviceServerNamespace.SetPIDSetPoint(), and com.neuronrobotics.sdk.pid.GenericPIDDevice.SetPIDSetPoint().

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

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

Public Member Functions

Detailed Description

Member Function Documentation

◆ addPIDEventListener()

◆ ConfigurePDVelovityController()

◆ ConfigurePIDController()

◆ flushPIDChannels()

◆ GetAllPIDPosition()

◆ getPDVelocityConfiguration()

◆ getPIDChannel()

◆ getPIDChannelCount()

◆ getPIDConfiguration()

◆ GetPIDPosition()

◆ isAvailable()

◆ killAllPidGroups()

◆ removePIDEventListener()

◆ ResetPIDChannel()

◆ SetAllPIDSetPoint()

◆ SetPDVelocity()

◆ SetPIDInterpolatedVelocity()

◆ SetPIDSetPoint()