org.myrobotlab.service

Class InMoovHand

java.lang.Object

org.myrobotlab.framework.MessageService

org.myrobotlab.framework.Service

org.myrobotlab.service.InMoovHand

All Implemented Interfaces:

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

public class InMoovHand
extends Service
implements LeapDataListener

InMoovHand - The Hand sub service for the InMoov Robot. This service has 6 servos controlled by an arduino. thumb,index,majeure,ringFinger,pinky, and wrist There is also leap motion support.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
Arduino	arduino
Servo	index
LeapMotion	leap peer services
static org.slf4j.Logger	log
Servo	majeure
Servo	pinky
Servo	ringFinger
Servo	thumb
Servo	wrist

Fields inherited from class org.myrobotlab.framework.Service

cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
boolean	attach() Deprecated.
void	bird()
void	broadcastState()
void	close()
void	closePinch()
boolean	connect(java.lang.String port) connect - user data needed
void	count()
void	detach() Deprecated.
void	devilHorns()
void	disable()
boolean	enable()
void	enableAutoDisable(java.lang.Boolean param) Deprecated.
void	enableAutoEnable(java.lang.Boolean param) Deprecated.
void	five()
void	four()
long	getLastActivityTime()
static ServiceType	getMetaData() This static method returns all the details of the class without it having to be constructed.
java.lang.String	getScript(java.lang.String inMoovServiceName)
java.lang.String	getSide()
void	hangTen()
boolean	isAttached()
static void	main(java.lang.String[] args)
void	map(int minX, int maxX, int minY, int maxY)
void	moveTo(double thumb, double index, double majeure, double ringFinger, double pinky)
void	moveTo(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	moveToBlocking(double thumb, double index, double majeure, double ringFinger, double pinky)
void	moveToBlocking(double thumb, double index, double majeure, double ringFinger, double pinky, java.lang.Double wrist)
void	ok()
void	one()
LeapData	onLeapData(LeapData data)
void	open()
void	openPinch()
void	release()
void	rest()
boolean	save() method of serializing default will be simple xml to name file
void	setAutoDisable(java.lang.Boolean param)
void	setOverrideAutoDisable(java.lang.Boolean param)
void	setPins(int thumbPin, int indexPin, int majeurePin, int ringFingerPin, int pinkyPin, int wristPin)
void	setRest(double thumb, double index, double majeure, double ringFinger, double pinky)
void	setRest(double thumb, double index, double majeure, double ringFinger, double pinky, java.lang.Double wrist)
void	setSide(java.lang.String side)
void	setSpeed(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	setVelocity(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	startLeapTracking()
void	startService()
void	stopLeapTracking()
void	test()
void	three()
void	thumbsUp()
void	two()
void	victory()
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, purgeTasks, 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, stopService, 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

Methods inherited from interface org.myrobotlab.service.interfaces.LeapDataListener

getName

Field Detail

log

public static final org.slf4j.Logger log

leap

public transient LeapMotion leap

peer services

thumb

public transient Servo thumb

index

public transient Servo index

majeure

public transient Servo majeure

ringFinger

public transient Servo ringFinger

pinky

public transient Servo pinky

wrist

public transient Servo wrist

arduino

public transient Arduino arduino

Constructor Detail

InMoovHand

public InMoovHand(java.lang.String n)

Method Detail

main

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

attach

@Deprecated
public boolean attach()

Deprecated.

enable

public boolean enable()

bird

public void bird()

broadcastState

public void broadcastState()

Specified by:

broadcastState in interface ServiceInterface

Overrides:

broadcastState in class Service

close

public void close()

closePinch

public void closePinch()

connect

public boolean connect(java.lang.String port)
                throws java.lang.Exception

connect - user data needed

Parameters:

port - com port

Returns:

true or false

Throws:

java.lang.Exception - e

count

public void count()

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()

enableAutoEnable

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

Deprecated.

enableAutoDisable

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

Deprecated.

setAutoDisable

public void setAutoDisable(java.lang.Boolean param)

setOverrideAutoDisable

public void setOverrideAutoDisable(java.lang.Boolean param)

devilHorns

public void devilHorns()

five

public void five()

four

public void four()

getLastActivityTime

public long getLastActivityTime()

getScript

public java.lang.String getScript(java.lang.String inMoovServiceName)

getSide

public java.lang.String getSide()

hangTen

public void hangTen()

isAttached

public boolean isAttached()

map

public void map(int minX,
                int maxX,
                int minY,
                int maxY)

moveTo

public void moveTo(double thumb,
                   double index,
                   double majeure,
                   double ringFinger,
                   double pinky)

moveTo

public void moveTo(java.lang.Double thumb,
                   java.lang.Double index,
                   java.lang.Double majeure,
                   java.lang.Double ringFinger,
                   java.lang.Double pinky,
                   java.lang.Double wrist)

moveToBlocking

public void moveToBlocking(double thumb,
                           double index,
                           double majeure,
                           double ringFinger,
                           double pinky)

moveToBlocking

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

waitTargetPos

public void waitTargetPos()

ok

public void ok()

one

public void one()

onLeapData

public LeapData onLeapData(LeapData data)

Specified by:

onLeapData in interface LeapDataListener

open

public void open()

openPinch

public void openPinch()

release

public void release()

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

setPins

public void setPins(int thumbPin,
                    int indexPin,
                    int majeurePin,
                    int ringFingerPin,
                    int pinkyPin,
                    int wristPin)

setRest

public void setRest(double thumb,
                    double index,
                    double majeure,
                    double ringFinger,
                    double pinky)

setRest

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

setSide

public void setSide(java.lang.String side)

setSpeed

@Deprecated
public void setSpeed(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.

startLeapTracking

public void startLeapTracking()
                       throws java.lang.Exception

Throws:

java.lang.Exception

startService

public void startService()

Specified by:

startService in interface ServiceInterface

Overrides:

startService in class Service

stopLeapTracking

public void stopLeapTracking()

test

public void test()

three

public void three()

thumbsUp

public void thumbsUp()

two

public void two()

victory

public void victory()

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

setVelocity

public void setVelocity(java.lang.Double thumb,
                        java.lang.Double index,
                        java.lang.Double majeure,
                        java.lang.Double ringFinger,
                        java.lang.Double pinky,
                        java.lang.Double wrist)