org.myrobotlab.service

Class Ssc32UsbServoController

java.lang.Object

org.myrobotlab.framework.MessageService

org.myrobotlab.framework.Service

org.myrobotlab.service.Ssc32UsbServoController

All Implemented Interfaces:

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

public class Ssc32UsbServoController
extends Service
implements PortConnector, ServoController

<pre> # <ch> P <pw> S<spd>T<time> <cr> <ch>: pin / channel to which the servo is connected (0 to 31) in decimal <pw>: desired pulse width (normally 500 to 2500) in microseconds <spd>: servo movement speed in microseconds per second* <time>: time in microseconds to travel from the current position to the desired position. This affects all servos (65535 max) * <cr>: carriage return (ASCII 13)** </pre>

Author:

GroG

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
static org.slf4j.Logger	log

Fields inherited from class org.myrobotlab.framework.Service

cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors

Constructor and Description
Ssc32UsbServoController(java.lang.String n)

Method Summary

Modifier and Type	Method and Description
void	attach(Attachable service) Routing attach - routes ServiceInterface.attach(service) to appropriate methods for this class
void	attach(ServoControl servo, int pin) attach with parameters which will set all necessary attributes on ServoControl before calling the single parameter typed attach
void	attachServoControl(ServoControl servo) Single parameter attach{type}({type}) - this is where the "real" attach logic is for this service.
void	connect(java.lang.String port) connect - default connection speed is 9600 Press and hold the button.
void	connect(java.lang.String port, int rate)
void	connect(java.lang.String port, int rate, int databits, int stopbits, int parity)
void	detach(Attachable service) Routing detach - routes ServiceInterface.detach(service) to appropriate methods for this class
void	detachServoControl(ServoControl servo) This is a typed detach for the one interface it knows how to attach to
void	disablePin(java.lang.Integer i)
void	disconnect() disconnect serial
void	enablePin(java.lang.Integer sensorPin, java.lang.Integer i)
java.util.Set<java.lang.String>	getAttached() returns all currently attached services
static ServiceType	getMetaData() This static method returns all the details of the class without it having to be constructed.
SerialDevice	getSerial()
boolean	isAttached(java.lang.String name) returns if the Attachable has been set or not - name interface
boolean	isConnected()
static void	main(java.lang.String[] args)
void	servoAttachPin(ServoControl servo, int pin)
void	servoDetachPin(ServoControl servo)
void	servoMoveTo(ServoControl servo)
void	servoSetAcceleration(ServoControl servo)
void	servoSetVelocity(ServoControl servo)
void	servoSweepStart(ServoControl servo)
void	servoSweepStop(ServoControl servo)
void	servoWriteMicroseconds(ServoControl servo, int uS)
void	startService()
static double	toDegrees(double us)
static double	toUs(double degrees)
void	write(java.lang.String cmd, java.lang.Object... params)

Methods inherited from class org.myrobotlab.framework.Service

addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, broadcastState, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, echoHeartbeat, error, error, error, 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, 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, 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.framework.interfaces.Attachable

attach, detach, detach, isAttached, isLocal

Methods inherited from interface org.myrobotlab.framework.interfaces.NameProvider

getName

Field Detail

log

public static final org.slf4j.Logger log

Constructor Detail

Ssc32UsbServoController

public Ssc32UsbServoController(java.lang.String n)

Method Detail

toUs

public static double toUs(double degrees)

toDegrees

public static double toDegrees(double us)

connect

public void connect(java.lang.String port)
             throws java.io.IOException

connect - default connection speed is 9600 Press and hold the button. At first the LEDs will glow to indicate the current Baud rate. 9600 (green) 38400 (red) 115200 (both green and red) Press the button to cycle through baud rates

Specified by:

connect in interface PortConnector

Throws:

java.io.IOException

disconnect

public void disconnect()

disconnect serial

Specified by:

disconnect in interface PortConnector

startService

public void startService()

Specified by:

startService in interface ServiceInterface

Overrides:

startService in class Service

getSerial

public SerialDevice getSerial()

isConnected

public boolean isConnected()

Specified by:

isConnected in interface PortConnector

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

connect

public void connect(java.lang.String port,
                    int rate,
                    int databits,
                    int stopbits,
                    int parity)
             throws java.io.IOException

Specified by:

connect in interface PortConnector

Throws:

java.io.IOException

servoAttachPin

public void servoAttachPin(ServoControl servo,
                           int pin)

Specified by:

servoAttachPin in interface ServoController

write

public void write(java.lang.String cmd,
                  java.lang.Object... params)

servoSweepStart

public void servoSweepStart(ServoControl servo)

Specified by:

servoSweepStart in interface ServoController

servoSweepStop

public void servoSweepStop(ServoControl servo)

Specified by:

servoSweepStop in interface ServoController

servoMoveTo

public void servoMoveTo(ServoControl servo)

Specified by:

servoMoveTo in interface ServoController

servoWriteMicroseconds

public void servoWriteMicroseconds(ServoControl servo,
                                   int uS)

Specified by:

servoWriteMicroseconds in interface ServoController

servoDetachPin

public void servoDetachPin(ServoControl servo)

Specified by:

servoDetachPin in interface ServoController

servoSetVelocity

public void servoSetVelocity(ServoControl servo)

Specified by:

servoSetVelocity in interface ServoController

servoSetAcceleration

public void servoSetAcceleration(ServoControl servo)

Specified by:

servoSetAcceleration in interface ServoController

attach

public void attach(ServoControl servo,
                   int pin)
            throws java.lang.Exception

attach with parameters which will set all necessary attributes on ServoControl before calling the single parameter typed attach

Specified by:

attach in interface ServoController

Parameters:

servo - the servo

pin - the pin number

Throws:

java.lang.Exception - e

getAttached

public java.util.Set<java.lang.String> getAttached()

returns all currently attached services

Specified by:

getAttached in interface Attachable

Overrides:

getAttached in class Service

Returns:

the set of attached service names to this service

attach

public void attach(Attachable service)
            throws java.lang.Exception

Routing attach - routes ServiceInterface.attach(service) to appropriate methods for this class

Specified by:

attach in interface Attachable

Overrides:

attach in class Service

Parameters:

service - - the service to attach from this service

Throws:

java.lang.Exception - - throws on error and cannot attach

attachServoControl

public void attachServoControl(ServoControl servo)
                        throws java.lang.Exception

Single parameter attach{type}({type}) - this is where the "real" attach logic is for this service.

Specified by:

attachServoControl in interface ServoController

Parameters:

servo - the servo

Throws:

java.lang.Exception - e

detach

public void detach(Attachable service)

Routing detach - routes ServiceInterface.detach(service) to appropriate methods for this class

Specified by:

detach in interface Attachable

Overrides:

detach in class Service

Parameters:

service - - the service to detach from this service

detachServoControl

public void detachServoControl(ServoControl servo)

This is a typed detach for the one interface it knows how to attach to

Parameters:

servo - - servo control service

isAttached

public boolean isAttached(java.lang.String name)

Description copied from interface: Attachable

returns if the Attachable has been set or not - name interface

Specified by:

isAttached in interface Attachable

Overrides:

isAttached in class Service

Parameters:

name - - name of service

Returns:

True or False depending if service is attached

main

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

connect

public void connect(java.lang.String port,
                    int rate)
             throws java.lang.Exception

Specified by:

connect in interface PortConnector

Throws:

java.lang.Exception

enablePin

public void enablePin(java.lang.Integer sensorPin,
                      java.lang.Integer i)

Specified by:

enablePin in interface ServoController

disablePin

public void disablePin(java.lang.Integer i)

Specified by:

disablePin in interface ServoController