org.myrobotlab.service

Class InMoov

java.lang.Object

org.myrobotlab.framework.MessageService

org.myrobotlab.framework.Service

org.myrobotlab.service.InMoov

All Implemented Interfaces:

java.io.Serializable, java.lang.Runnable, Attachable, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, StateSaver, TypeProvider, QueueReporter

public class InMoov
extends Service

InMoov - The InMoov Service. The InMoov service allows control of the InMoov robot. This robot was created by Gael Langevin. It's an open source 3D printable robot. All of the parts and instructions to build are on his blog (http://inmoov.blogspot.com/ and http://www.inmoov.fr/). InMoov is a composite of servos, Arduinos, microphone, camera, kinect and computer. The InMoov service is composed of many other peer services, and allows easy initialization and control of these sub systems.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
static int	attachPauseMs
java.lang.String	CALIBRATION_FILE
SpeechRecognizer	ear
InMoovEyelids	eyelids
static Tracking	eyesTracking
InMoovHead	head
static Tracking	headTracking
java.lang.String	lang_shutDown
static java.lang.String	LEFT
InMoovArm	leftArm
InMoovHand	leftHand
Relay	LeftRelay1
static org.slf4j.Logger	log
SpeechSynthesis	mouth
MouthControl	mouthControl
NeoPixel	neopixel
Arduino	neopixelArduino
static OpenCV	opencv
static OpenNi	openni
boolean	openNiLeftShoulderInverted
boolean	openNiRightShoulderInverted
double	openNiShouldersOffset
Pid	pid
java.lang.Integer	pirPin
Python	python
static java.lang.String	RIGHT
InMoovArm	rightArm
InMoovHand	rightHand
Relay	RightRelay1
static boolean	RobotCanMoveBodyRandom
static boolean	RobotCanMoveEyesRandom
static boolean	RobotCanMoveHeadRandom
static boolean	RobotCanMoveRandom
static boolean	RobotIsSleeping
static boolean	RobotIsStarted
InMoovTorso	torso
UltrasonicSensor	ultrasonicSensor
java.lang.String	VinmoovBackGroundColor
java.lang.Boolean	VinmoovFullScreen
int	VinmoovHeight
java.lang.Boolean	VinmoovMonitorActivated
int	VinmoovWidth

Fields inherited from class org.myrobotlab.framework.Service

cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors

Constructor and Description
InMoov(java.lang.String n)

Method Summary

Modifier and Type	Method and Description
void	addRoutes() subscribe to the runtime for any new services
void	atEase()
void	attach() Deprecated.
void	beginCheckingOnInactivity()
void	beginCheckingOnInactivity(int maxInactivityTimeSeconds)
void	broadcastState()
void	cameraOff()
void	cameraOn()
java.lang.String	captureGesture()
java.lang.String	captureGesture(java.lang.String gestureName)
long	checkInactivity()
void	clearTrackingPoints()
void	closePinch(java.lang.String which)
boolean	copyGesture(boolean b)
void	detach() Deprecated.
void	disable()
void	enable()
void	enableAutoDisable(java.lang.Boolean param) Deprecated.
void	finishedGesture()
void	finishedGesture(java.lang.String nameOfGesture)
void	fullSpeed()
long	getLastActivityTime() finds most recent activity
static ServiceType	getMetaData() This static method returns all the details of the class without it having to be constructed.
Python	getPython()
java.lang.Double	getUltrasonicSensorDistance()
void	halfSpeed()
void	handClose(java.lang.String which)
void	handOpen(java.lang.String which)
void	handRest(java.lang.String which)
boolean	isAttached()
boolean	isMute()
void	loadCalibration()
void	loadCalibration(java.lang.String calibrationFilename)
void	loadGestures()
void	loadGestures(java.lang.String directory) This method will look at all of the .py files in a directory.
static void	main(java.lang.String[] args)
void	moveArm(java.lang.String which, double bicep, double rotate, double shoulder, double omoplate)
void	moveEyelids(double eyelidleft, double eyelidright)
void	moveEyes(double eyeX, double eyeY)
void	moveHand(java.lang.String which, double thumb, double index, double majeure, double ringFinger, double pinky)
void	moveHand(java.lang.String which, double thumb, double index, double majeure, double ringFinger, double pinky, java.lang.Double wrist)
void	moveHead(double neck, double rothead)
void	moveHead(double neck, double rothead, double rollNeck)
void	moveHead(double neck, double rothead, double eyeX, double eyeY, double jaw)
void	moveHead(double neck, double rothead, double eyeX, double eyeY, double jaw, double rollNeck)
void	moveHeadBlocking(double neck, double rothead)
void	moveHeadBlocking(double neck, double rothead, double rollNeck)
void	moveHeadBlocking(double neck, double rothead, double eyeX, double eyeY, double jaw)
void	moveHeadBlocking(double neck, double rothead, double eyeX, double eyeY, double jaw, double rollNeck)
void	moveTorso(double topStom, double midStom, double lowStom)
void	moveTorsoBlocking(double topStom, double midStom, double lowStom)
void	onError(java.lang.String msg)
void	onIKServoEvent(Servo.IKData data)
void	onListeningEvent()
void	onOpenNIData(OpenNiData data)
void	onPauseListening()
void	onRecognized(java.lang.String text)
void	onRegistered(ServiceInterface sw)
void	openlefthand()
void	openPinch(java.lang.String which)
void	openrighthand()
void	powerDown()
void	powerUp()
void	publishPin(Pin pin)
void	purgeTasks()
void	rest()
static boolean	RobotIsOpenCvCapturing()
static boolean	RobotIsOpenNiCapturing()
static boolean	RobotIsTrackingSomething()
boolean	save() method of serializing default will be simple xml to name file
void	saveCalibration()
void	saveCalibration(java.lang.String calibrationFilename)
void	saveGesture(java.lang.String gestureName)
void	saveGesture(java.lang.String gestureName, java.lang.String directory)
void	setArmSpeed(java.lang.String which, java.lang.Double bicep, java.lang.Double rotate, java.lang.Double shoulder, java.lang.Double omoplate) Deprecated.
void	setArmVelocity(java.lang.String which, java.lang.Double bicep, java.lang.Double rotate, java.lang.Double shoulder, java.lang.Double omoplate)
void	setAutoDisable(java.lang.Boolean param)
void	setBatteryLevel(java.lang.Integer level)
void	setEyelidsVelocity(java.lang.Double eyelidleft, java.lang.Double eyelidright)
void	setHandSpeed(java.lang.String which, java.lang.Double thumb, java.lang.Double index, java.lang.Double majeure, java.lang.Double ringFinger, java.lang.Double pinky) Deprecated.
void	setHandSpeed(java.lang.String which, java.lang.Double thumb, java.lang.Double index, java.lang.Double majeure, java.lang.Double ringFinger, java.lang.Double pinky, java.lang.Double wrist) Deprecated.
void	setHandVelocity(java.lang.String which, java.lang.Double thumb, java.lang.Double index, java.lang.Double majeure, java.lang.Double ringFinger, java.lang.Double pinky)
void	setHandVelocity(java.lang.String which, java.lang.Double thumb, java.lang.Double index, java.lang.Double majeure, java.lang.Double ringFinger, java.lang.Double pinky, java.lang.Double wrist)
void	setHeadSpeed(java.lang.Double rothead, java.lang.Double neck) Deprecated.
void	setHeadSpeed(java.lang.Double rothead, java.lang.Double neck, java.lang.Double eyeXSpeed, java.lang.Double eyeYSpeed, java.lang.Double jawSpeed) Deprecated.
void	setHeadVelocity(java.lang.Double rothead, java.lang.Double neck)
void	setHeadVelocity(java.lang.Double rothead, java.lang.Double neck, java.lang.Double rollNeck)
void	setHeadVelocity(java.lang.Double rothead, java.lang.Double neck, java.lang.Double eyeXSpeed, java.lang.Double eyeYSpeed, java.lang.Double jawSpeed)
void	setHeadVelocity(java.lang.Double rothead, java.lang.Double neck, java.lang.Double eyeXSpeed, java.lang.Double eyeYSpeed, java.lang.Double jawSpeed, java.lang.Double rollNeckSpeed) Deprecated.
void	setLeftArduinoConnected(boolean param)
void	setMute(boolean mute)
void	setNeopixelAnimation(java.lang.String animation, java.lang.Integer red, java.lang.Integer green, java.lang.Integer blue, java.lang.Integer speed)
void	setRightArduinoConnected(boolean param)
void	setTorsoSpeed(java.lang.Double topStom, java.lang.Double midStom, java.lang.Double lowStom) Deprecated.
void	setTorsoVelocity(java.lang.Double topStom, java.lang.Double midStom, java.lang.Double lowStom)
boolean	speakBlocking(Status test)
boolean	speakBlocking(java.lang.String toSpeak)
boolean	speakErrors(boolean b)
void	startAll(java.lang.String leftPort, java.lang.String rightPort) STARTS BEGIN
InMoovArm	startArm(java.lang.String side, java.lang.String port, java.lang.String type)
SpeechRecognizer	startEar()
void	startedGesture()
void	startedGesture(java.lang.String nameOfGesture)
InMoovEyelids	startEyelids(ServoController controller, java.lang.Integer eyeLidLeftPin, java.lang.Integer eyeLidRightPin)
InMoovEyelids	startEyelids(java.lang.String port)
InMoovEyelids	startEyelids(java.lang.String port, int eyelidleftPin, int eyelidrightPin)
InMoovEyelids	startEyelids(java.lang.String port, java.lang.String type, int eyeLidLeftPin, int eyeLidRightPin)
Tracking	startEyesTracking(java.lang.String port, int xPin, int yPin)
InMoovHand	startHand(java.lang.String side, java.lang.String port, java.lang.String type)
InMoovHead	startHead(java.lang.String port)
InMoovHead	startHead(java.lang.String port, java.lang.Integer headYPin, java.lang.Integer headXPin, java.lang.Integer eyeXPin, java.lang.Integer eyeYPin, java.lang.Integer jawPin, java.lang.Integer rollNeckPin)
InMoovHead	startHead(java.lang.String port, java.lang.String type)
InMoovHead	startHead(java.lang.String port, java.lang.String type, java.lang.Integer headYPin, java.lang.Integer headXPin, java.lang.Integer eyeXPin, java.lang.Integer eyeYPin, java.lang.Integer jawPin, java.lang.Integer rollNeckPin)
Tracking	startHeadTracking(java.lang.String port, int neckPin, int rotheadPin)
void	startIntegratedMovement()
InMoovArm	startLeftArm(java.lang.String port)
InMoovArm	startLeftArm(java.lang.String port, java.lang.String type)
InMoovHand	startLeftHand(java.lang.String port)
InMoovHand	startLeftHand(java.lang.String port, java.lang.String type)
SpeechSynthesis	startMouth()
MouthControl	startMouthControl(java.lang.String port)
OpenCV	startOpenCV()
OpenNi	startOpenNI()
void	startPIR(java.lang.String port, int pin)
InMoovArm	startRightArm(java.lang.String port)
InMoovArm	startRightArm(java.lang.String port, java.lang.String type)
InMoovHand	startRightHand(java.lang.String port)
InMoovHand	startRightHand(java.lang.String port, java.lang.String type)
void	startService()
InMoovTorso	startTorso(java.lang.String port)
InMoovTorso	startTorso(java.lang.String port, java.lang.String type)
InMoov3DApp	startVinMoov()
void	stopHeadTracking()
void	stopNeopixelAnimation()
void	stopPIR()
void	stopService() Stops the service.
void	stopTracking()
void	stopVinMoov()
void	systemCheck()
void	track()
void	trackHumans()
void	trackPoint()
void	waitTargetPos()

Methods inherited from class org.myrobotlab.framework.Service

addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, echoHeartbeat, error, error, error, getAttached, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, getType, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, stopHeartbeat, stopMsgRecording, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

CALIBRATION_FILE

public java.lang.String CALIBRATION_FILE

log

public static final org.slf4j.Logger log

head

public transient InMoovHead head

torso

public transient InMoovTorso torso

leftArm

public transient InMoovArm leftArm

leftHand

public transient InMoovHand leftHand

rightArm

public transient InMoovArm rightArm

rightHand

public transient InMoovHand rightHand

eyelids

public transient InMoovEyelids eyelids

ear

public transient SpeechRecognizer ear

mouth

public transient SpeechSynthesis mouth

eyesTracking

public static transient Tracking eyesTracking

headTracking

public static transient Tracking headTracking

opencv

public static transient OpenCV opencv

openni

public static transient OpenNi openni

mouthControl

public transient MouthControl mouthControl

python

public transient Python python

LEFT

public static final transient java.lang.String LEFT

See Also:

Constant Field Values

RIGHT

public static final transient java.lang.String RIGHT

See Also:

Constant Field Values

pid

public transient Pid pid

openNiShouldersOffset

public double openNiShouldersOffset

openNiLeftShoulderInverted

public boolean openNiLeftShoulderInverted

openNiRightShoulderInverted

public boolean openNiRightShoulderInverted

lang_shutDown

public java.lang.String lang_shutDown

attachPauseMs

public static int attachPauseMs

RobotCanMoveHeadRandom

public static boolean RobotCanMoveHeadRandom

RobotCanMoveEyesRandom

public static boolean RobotCanMoveEyesRandom

RobotCanMoveBodyRandom

public static boolean RobotCanMoveBodyRandom

RobotCanMoveRandom

public static boolean RobotCanMoveRandom

RobotIsSleeping

public static boolean RobotIsSleeping

RobotIsStarted

public static boolean RobotIsStarted

pirPin

public java.lang.Integer pirPin

VinmoovMonitorActivated

public java.lang.Boolean VinmoovMonitorActivated

VinmoovFullScreen

public java.lang.Boolean VinmoovFullScreen

VinmoovBackGroundColor

public java.lang.String VinmoovBackGroundColor

VinmoovWidth

public int VinmoovWidth

VinmoovHeight

public int VinmoovHeight

LeftRelay1

public Relay LeftRelay1

RightRelay1

public Relay RightRelay1

neopixel

public NeoPixel neopixel

neopixelArduino

public Arduino neopixelArduino

ultrasonicSensor

public UltrasonicSensor ultrasonicSensor

Constructor Detail

InMoov

public InMoov(java.lang.String n)

Method Detail

RobotIsTrackingSomething

public static boolean RobotIsTrackingSomething()

RobotIsOpenCvCapturing

public static boolean RobotIsOpenCvCapturing()

RobotIsOpenNiCapturing

public static boolean RobotIsOpenNiCapturing()

addRoutes

public void addRoutes()

subscribe to the runtime for any new services

atEase

public void atEase()

attach

@Deprecated
public void attach()

Deprecated.

enable

public void enable()

beginCheckingOnInactivity

public void beginCheckingOnInactivity()

beginCheckingOnInactivity

public void beginCheckingOnInactivity(int maxInactivityTimeSeconds)

broadcastState

public void broadcastState()

Specified by:

broadcastState in interface ServiceInterface

Overrides:

broadcastState in class Service

cameraOff

public void cameraOff()

cameraOn

public void cameraOn()
              throws java.lang.Exception

Throws:

java.lang.Exception

captureGesture

public java.lang.String captureGesture()

captureGesture

public java.lang.String captureGesture(java.lang.String gestureName)

checkInactivity

public long checkInactivity()

clearTrackingPoints

public void clearTrackingPoints()

closePinch

public void closePinch(java.lang.String which)

copyGesture

public boolean copyGesture(boolean b)
                    throws java.lang.Exception

Throws:

java.lang.Exception

detach

@Deprecated
public void detach()

Deprecated.

Description copied from class: Service

detaches ALL other services from this service

Specified by:

detach in interface Attachable

Overrides:

detach in class Service

disable

public void disable()

fullSpeed

public void fullSpeed()

halfSpeed

public void halfSpeed()

getLastActivityTime

public long getLastActivityTime()

finds most recent activity

Returns:

the timestamp of the last activity time.

getPython

public Python getPython()

handClose

public void handClose(java.lang.String which)

onError

public void onError(java.lang.String msg)

handOpen

public void handOpen(java.lang.String which)

handRest

public void handRest(java.lang.String which)

isAttached

public boolean isAttached()

isMute

public boolean isMute()

moveArm

public void moveArm(java.lang.String which,
                    double bicep,
                    double rotate,
                    double shoulder,
                    double omoplate)

moveEyes

public void moveEyes(double eyeX,
                     double eyeY)

moveHand

public void moveHand(java.lang.String which,
                     double thumb,
                     double index,
                     double majeure,
                     double ringFinger,
                     double pinky)

moveHand

public void moveHand(java.lang.String which,
                     double thumb,
                     double index,
                     double majeure,
                     double ringFinger,
                     double pinky,
                     java.lang.Double wrist)

moveHead

public void moveHead(double neck,
                     double rothead)

moveHead

public void moveHead(double neck,
                     double rothead,
                     double rollNeck)

moveHead

public void moveHead(double neck,
                     double rothead,
                     double eyeX,
                     double eyeY,
                     double jaw)

moveHead

public void moveHead(double neck,
                     double rothead,
                     double eyeX,
                     double eyeY,
                     double jaw,
                     double rollNeck)

moveTorso

public void moveTorso(double topStom,
                      double midStom,
                      double lowStom)

moveTorsoBlocking

public void moveTorsoBlocking(double topStom,
                              double midStom,
                              double lowStom)

moveEyelids

public void moveEyelids(double eyelidleft,
                        double eyelidright)

moveHeadBlocking

public void moveHeadBlocking(double neck,
                             double rothead)

moveHeadBlocking

public void moveHeadBlocking(double neck,
                             double rothead,
                             double rollNeck)

moveHeadBlocking

public void moveHeadBlocking(double neck,
                             double rothead,
                             double eyeX,
                             double eyeY,
                             double jaw)

moveHeadBlocking

public void moveHeadBlocking(double neck,
                             double rothead,
                             double eyeX,
                             double eyeY,
                             double jaw,
                             double rollNeck)

waitTargetPos

public void waitTargetPos()

onOpenNIData

public void onOpenNIData(OpenNiData data)

openlefthand

public void openlefthand()

openPinch

public void openPinch(java.lang.String which)

openrighthand

public void openrighthand()

powerDown

public void powerDown()

powerUp

public void powerUp()

publishPin

public void publishPin(Pin pin)

purgeTasks

public void purgeTasks()

Overrides:

purgeTasks in class Service

onRegistered

public void onRegistered(ServiceInterface sw)

rest

public void rest()

save

public boolean save()

Description copied from class: Service

method of serializing default will be simple xml to name file

Specified by:

save in interface StateSaver

Overrides:

save in class Service

setArmSpeed

@Deprecated
public void setArmSpeed(java.lang.String which,
                                    java.lang.Double bicep,
                                    java.lang.Double rotate,
                                    java.lang.Double shoulder,
                                    java.lang.Double omoplate)

Deprecated.

setArmVelocity

public void setArmVelocity(java.lang.String which,
                           java.lang.Double bicep,
                           java.lang.Double rotate,
                           java.lang.Double shoulder,
                           java.lang.Double omoplate)

setHandSpeed

@Deprecated
public void setHandSpeed(java.lang.String which,
                                     java.lang.Double thumb,
                                     java.lang.Double index,
                                     java.lang.Double majeure,
                                     java.lang.Double ringFinger,
                                     java.lang.Double pinky)

Deprecated.

setHandVelocity

public void setHandVelocity(java.lang.String which,
                            java.lang.Double thumb,
                            java.lang.Double index,
                            java.lang.Double majeure,
                            java.lang.Double ringFinger,
                            java.lang.Double pinky)

setHandSpeed

@Deprecated
public void setHandSpeed(java.lang.String which,
                                     java.lang.Double thumb,
                                     java.lang.Double index,
                                     java.lang.Double majeure,
                                     java.lang.Double ringFinger,
                                     java.lang.Double pinky,
                                     java.lang.Double wrist)

Deprecated.

setHandVelocity

public void setHandVelocity(java.lang.String which,
                            java.lang.Double thumb,
                            java.lang.Double index,
                            java.lang.Double majeure,
                            java.lang.Double ringFinger,
                            java.lang.Double pinky,
                            java.lang.Double wrist)

setHeadSpeed

@Deprecated
public void setHeadSpeed(java.lang.Double rothead,
                                     java.lang.Double neck)

Deprecated.

setHeadVelocity

public void setHeadVelocity(java.lang.Double rothead,
                            java.lang.Double neck)

setHeadVelocity

public void setHeadVelocity(java.lang.Double rothead,
                            java.lang.Double neck,
                            java.lang.Double rollNeck)

setHeadVelocity

public void setHeadVelocity(java.lang.Double rothead,
                            java.lang.Double neck,
                            java.lang.Double eyeXSpeed,
                            java.lang.Double eyeYSpeed,
                            java.lang.Double jawSpeed)

setHeadSpeed

@Deprecated
public void setHeadSpeed(java.lang.Double rothead,
                                     java.lang.Double neck,
                                     java.lang.Double eyeXSpeed,
                                     java.lang.Double eyeYSpeed,
                                     java.lang.Double jawSpeed)

Deprecated.

setHeadVelocity

@Deprecated
public void setHeadVelocity(java.lang.Double rothead,
                                        java.lang.Double neck,
                                        java.lang.Double eyeXSpeed,
                                        java.lang.Double eyeYSpeed,
                                        java.lang.Double jawSpeed,
                                        java.lang.Double rollNeckSpeed)

Deprecated.

setMute

public void setMute(boolean mute)

setTorsoSpeed

@Deprecated
public void setTorsoSpeed(java.lang.Double topStom,
                                      java.lang.Double midStom,
                                      java.lang.Double lowStom)

Deprecated.

setTorsoVelocity

public void setTorsoVelocity(java.lang.Double topStom,
                             java.lang.Double midStom,
                             java.lang.Double lowStom)

setEyelidsVelocity

public void setEyelidsVelocity(java.lang.Double eyelidleft,
                               java.lang.Double eyelidright)

speakBlocking

public boolean speakBlocking(Status test)

speakBlocking

public boolean speakBlocking(java.lang.String toSpeak)

speakErrors

public boolean speakErrors(boolean b)

startAll

public void startAll(java.lang.String leftPort,
                     java.lang.String rightPort)
              throws java.lang.Exception

STARTS BEGIN

Parameters:

leftPort - com port

rightPort - com port

Throws:

java.lang.Exception - e

startArm

public InMoovArm startArm(java.lang.String side,
                          java.lang.String port,
                          java.lang.String type)
                   throws java.lang.Exception

Throws:

java.lang.Exception

startEar

public SpeechRecognizer startEar()
                          throws java.lang.Exception

Throws:

java.lang.Exception

startEyesTracking

public Tracking startEyesTracking(java.lang.String port,
                                  int xPin,
                                  int yPin)
                           throws java.lang.Exception

Throws:

java.lang.Exception

startHand

public InMoovHand startHand(java.lang.String side,
                            java.lang.String port,
                            java.lang.String type)
                     throws java.lang.Exception

Throws:

java.lang.Exception

startHead

public InMoovHead startHead(java.lang.String port)
                     throws java.lang.Exception

Throws:

java.lang.Exception

startHead

public InMoovHead startHead(java.lang.String port,
                            java.lang.String type)
                     throws java.lang.Exception

Throws:

java.lang.Exception

startHead

public InMoovHead startHead(java.lang.String port,
                            java.lang.Integer headYPin,
                            java.lang.Integer headXPin,
                            java.lang.Integer eyeXPin,
                            java.lang.Integer eyeYPin,
                            java.lang.Integer jawPin,
                            java.lang.Integer rollNeckPin)
                     throws java.lang.Exception

Throws:

java.lang.Exception

startHead

public InMoovHead startHead(java.lang.String port,
                            java.lang.String type,
                            java.lang.Integer headYPin,
                            java.lang.Integer headXPin,
                            java.lang.Integer eyeXPin,
                            java.lang.Integer eyeYPin,
                            java.lang.Integer jawPin,
                            java.lang.Integer rollNeckPin)
                     throws java.lang.Exception

Throws:

java.lang.Exception

enableAutoDisable

@Deprecated
public void enableAutoDisable(java.lang.Boolean param)

Deprecated.

setAutoDisable

public void setAutoDisable(java.lang.Boolean param)

startHeadTracking

public Tracking startHeadTracking(java.lang.String port,
                                  int neckPin,
                                  int rotheadPin)
                           throws java.lang.Exception

Throws:

java.lang.Exception

stopHeadTracking

public void stopHeadTracking()

startLeftArm

public InMoovArm startLeftArm(java.lang.String port)
                       throws java.lang.Exception

Throws:

java.lang.Exception

startLeftArm

public InMoovArm startLeftArm(java.lang.String port,
                              java.lang.String type)
                       throws java.lang.Exception

Throws:

java.lang.Exception

startLeftHand

public InMoovHand startLeftHand(java.lang.String port)
                         throws java.lang.Exception

Throws:

java.lang.Exception

startLeftHand

public InMoovHand startLeftHand(java.lang.String port,
                                java.lang.String type)
                         throws java.lang.Exception

Throws:

java.lang.Exception

startMouth

public SpeechSynthesis startMouth()
                           throws java.lang.Exception

Throws:

java.lang.Exception

startMouthControl

public MouthControl startMouthControl(java.lang.String port)
                               throws java.lang.Exception

Throws:

java.lang.Exception

startOpenCV

public OpenCV startOpenCV()
                   throws java.lang.Exception

Throws:

java.lang.Exception

startOpenNI

public OpenNi startOpenNI()
                   throws java.lang.Exception

Throws:

java.lang.Exception

startPIR

public void startPIR(java.lang.String port,
                     int pin)
              throws java.io.IOException

Throws:

java.io.IOException

startRightArm

public InMoovArm startRightArm(java.lang.String port)
                        throws java.lang.Exception

Throws:

java.lang.Exception

startRightArm

public InMoovArm startRightArm(java.lang.String port,
                               java.lang.String type)
                        throws java.lang.Exception

Throws:

java.lang.Exception

startRightHand

public InMoovHand startRightHand(java.lang.String port)
                          throws java.lang.Exception

Throws:

java.lang.Exception

startRightHand

public InMoovHand startRightHand(java.lang.String port,
                                 java.lang.String type)
                          throws java.lang.Exception

Throws:

java.lang.Exception

startService

public void startService()

Specified by:

startService in interface ServiceInterface

Overrides:

startService in class Service

startTorso

public InMoovTorso startTorso(java.lang.String port)
                       throws java.lang.Exception

Throws:

java.lang.Exception

startTorso

public InMoovTorso startTorso(java.lang.String port,
                              java.lang.String type)
                       throws java.lang.Exception

Throws:

java.lang.Exception

startEyelids

public InMoovEyelids startEyelids(java.lang.String port)
                           throws java.lang.Exception

Throws:

java.lang.Exception

startEyelids

public InMoovEyelids startEyelids(java.lang.String port,
                                  int eyelidleftPin,
                                  int eyelidrightPin)
                           throws java.lang.Exception

Throws:

java.lang.Exception

startEyelids

public InMoovEyelids startEyelids(java.lang.String port,
                                  java.lang.String type,
                                  int eyeLidLeftPin,
                                  int eyeLidRightPin)
                           throws java.lang.Exception

Throws:

java.lang.Exception

startEyelids

public InMoovEyelids startEyelids(ServoController controller,
                                  java.lang.Integer eyeLidLeftPin,
                                  java.lang.Integer eyeLidRightPin)
                           throws java.lang.Exception

Throws:

java.lang.Exception

stopPIR

public void stopPIR()

stopTracking

public void stopTracking()

systemCheck

public void systemCheck()

track

public void track()

trackHumans

public void trackHumans()

trackPoint

public void trackPoint()

loadGestures

public void loadGestures()

loadGestures

public void loadGestures(java.lang.String directory)

This method will look at all of the .py files in a directory. One by one it will load the files into the python interpreter. A gesture python file should contain 1 method definition that is the same as the filename.

Parameters:

directory - - the directory that contains the gesture python files.

loadCalibration

public void loadCalibration()

loadCalibration

public void loadCalibration(java.lang.String calibrationFilename)

saveCalibration

public void saveCalibration()

saveCalibration

public void saveCalibration(java.lang.String calibrationFilename)

saveGesture

public void saveGesture(java.lang.String gestureName,
                        java.lang.String directory)

saveGesture

public void saveGesture(java.lang.String gestureName)

startedGesture

public void startedGesture()

startedGesture

public void startedGesture(java.lang.String nameOfGesture)

finishedGesture

public void finishedGesture()

finishedGesture

public void finishedGesture(java.lang.String nameOfGesture)

main

public static void main(java.lang.String[] args)

getMetaData

public static ServiceType getMetaData()

This static method returns all the details of the class without it having to be constructed. It has description, categories, dependencies, and peer definitions.

Returns:

ServiceType - returns all the data

onListeningEvent

public void onListeningEvent()

onPauseListening

public void onPauseListening()

onRecognized

public void onRecognized(java.lang.String text)

setBatteryLevel

public void setBatteryLevel(java.lang.Integer level)

setLeftArduinoConnected

public void setLeftArduinoConnected(boolean param)

setRightArduinoConnected

public void setRightArduinoConnected(boolean param)

startVinMoov

public InMoov3DApp startVinMoov()
                         throws java.lang.InterruptedException

Throws:

java.lang.InterruptedException

onIKServoEvent

public void onIKServoEvent(Servo.IKData data)

stopVinMoov

public void stopVinMoov()

startIntegratedMovement

public void startIntegratedMovement()

getUltrasonicSensorDistance

public java.lang.Double getUltrasonicSensorDistance()

setNeopixelAnimation

public void setNeopixelAnimation(java.lang.String animation,
                                 java.lang.Integer red,
                                 java.lang.Integer green,
                                 java.lang.Integer blue,
                                 java.lang.Integer speed)

stopNeopixelAnimation

public void stopNeopixelAnimation()

stopService

public void stopService()

Description copied from class: Service

Stops the service. Stops threads.

Specified by:

stopService in interface ServiceInterface

Overrides:

stopService in class Service