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/*
* Copyright 2006 Phidgets Inc. All rights reserved.
*/
package com.phidgets;
import java.util.Iterator;
import java.util.LinkedList;
import com.phidgets.event.*;
/**
* This class represents a Phidget servo Controller. All methods
* to control a Servo Controller are implemented in this class.
* <p>
* The Phidget Sevo controller simply outputs varying widths of PWM, which is what
* most servo motors take as an input driving signal.
*
* @author Phidgets Inc.
*/
public final class ServoPhidget extends Phidget
{
public ServoPhidget () throws PhidgetException
{
super (create ());
}
private static native long create () throws PhidgetException;
/**
* Default - This is what the servo API been historically used, originally based on the Futaba FP-S148. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_DEFAULT = 1;
/**
* Raw us mode - all position, velocity, acceleration functions are specified in microseconds rather then degrees. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_RAW_us_MODE = 2;
/**
* HiTec HS-322HD Standard Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_HITEC_HS322HD = 3;
/**
* HiTec HS-5245MG Digital Mini Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_HITEC_HS5245MG = 4;
/**
* HiTec HS-805BB Mega Quarter Scale Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_HITEC_805BB = 5;
/**
* HiTec HS-422 Standard Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_HITEC_HS422 = 6;
/**
* Tower Pro MG90 Micro Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_TOWERPRO_MG90 = 7;
/**
* HiTec HSR-1425CR Continuous Rotation Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_HITEC_HSR1425CR = 8;
/**
* HiTec HS-785HB Sail Winch Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_HITEC_HS785HB = 9;
/**
* HiTec HS-485HB Deluxe Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_HITEC_HS485HB = 10;
/**
* HiTec HS-645MG Ultra Torque Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_HITEC_HS645MG = 11;
/**
* HiTec HS-815BB Mega Sail Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_HITEC_815BB = 12;
/**
* Firgelli L12 Linear Actuator 30mm 50:1. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_FIRGELLI_L12_30_50_06_R = 13;
/**
* Firgelli L12 Linear Actuator 50mm 100:1. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_FIRGELLI_L12_50_100_06_R = 14;
/**
* Firgelli L12 Linear Actuator 50mm 210:1. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_FIRGELLI_L12_50_210_06_R = 15;
/**
* Firgelli L12 Linear Actuator 100mm 50:1. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_FIRGELLI_L12_100_50_06_R = 16;
/**
* Firgelli L12 Linear Actuator 100mm 100:1. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_FIRGELLI_L12_100_100_06_R = 17;
/**
* SpringRC SM-S2313M Micro Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_SPRINGRC_SM_S2313M = 18;
/**
* SpringRC SM-S3317M Small Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_SPRINGRC_SM_S3317M = 19;
/**
* SpringRC SM-S3317SR Small Continuous Rotation Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_SPRINGRC_SM_S3317SR = 20;
/**
* SpringRC SM-S4303R Standard Continuous Rotation Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_SPRINGRC_SM_S4303R = 21;
/**
* SpringRC SM-S4315M High Torque Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_SPRINGRC_SM_S4315M = 22;
/**
* SpringRC SM-S4315R High Torque Continuous Rotation Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_SPRINGRC_SM_S4315R = 23;
/**
* SpringRC SM-S4505B Standard Servo. This is used with {@link #getServoType getServoType} and {@link #setServoType setServoType}
*/
public static final int PHIDGET_SERVO_SPRINGRC_SM_S4505B = 24;
/**
* User Defined servo parameters. This is used with {@link #getServoType getServoType}
*/
public static final int PHIDGET_SERVO_USER_DEFINED = 25;
/**
* Returns the number of motors this Phidget can support. Note that there is no way of programatically
* determining how many motors are actaully attached to the board.
* @return number of motors
*/
public native int getMotorCount () throws PhidgetException;
/**
* Returns the position of a servo motor. Note that since servo motors do not offer any feedback in their interface,
* this value is simply whatever the servo was last set to. There is no way of determining the position of a servo
* that has been plugged in, until it's position has been set. Therefore, if an initial position is important, it
* should be set as part of initialization.
* <p>
* If the servo is not engaged, the position is unknown and calling this function will throw an exception.
* <p>
* The range here is between {@link #getPositionMin getPositionMin} and {@link #getPositionMax getPositionMax},
* and corresponds aproximately to an angle in degrees. Note that most servos will not be able to operate
* accross this entire range.
* @param index index of the motor
* @return current position of the selected motor
* @throws PhidgetException If this Phidget is not opened and attached, or if the index is out of range.
* See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
*/
public native double getPosition (int index) throws PhidgetException;
/**
* Returns the maximum position that a servo will accept, or return.
* @param index Index of the servo
* @return Maximum position in degrees
* @throws PhidgetException If this Phidget is not opened and attached.
* See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
*/
public native double getPositionMax (int index) throws PhidgetException;
/**
* Returns the minimum position that a servo will accept, or return.
* @param index Index of the servo
* @return Minimum position in degrees
* @throws PhidgetException If this Phidget is not opened and attached.
* See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
*/
public native double getPositionMin (int index) throws PhidgetException;
/**
* Sets the position of a servo motor.
* <p>
* The range here is between {@link #getPositionMin getPositionMin} and {@link #getPositionMax getPositionMax},
* and corresponds aproximately to an angle in degrees. Note that most servos will not be able to operate
* accross this entire range. Typically, the range might be 25 - 180 degrees, but this depends on the servo
* @param index index of the motor
* @param position desired position
* @throws PhidgetException If this Phidget is not opened and attached, or if the index or position is out of range.
* See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
*/
public native void setPosition (int index, double position) throws PhidgetException;
/**
* Engage or disengage a servo motor.
* <p>
* This engages or disengages the servo. The motor is engaged whenever you set a position,
* use this function to disengage, and reengage without setting a position.
*
* @throws PhidgetException If this Phidget is not opened and attached, or if the index is out of range.
* See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
*/
public native void setEngaged (int index, boolean state) throws PhidgetException;
/**
* @deprecated Replaced by
* {@link #setEngaged}
*/
public native void setMotorOn (int index, boolean state) throws PhidgetException;
/**
* Returns the engaged state or a servo.
*
* @throws PhidgetException If this Phidget is not opened and attached, or if the index is out of range.
* See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
*/
public native boolean getEngaged (int index) throws PhidgetException;
/**
* @deprecated Replaced by
* {@link #getEngaged}
*/
public native boolean getMotorOn (int index) throws PhidgetException;
/**
* Returns the servo type for an index.
* The possible values for type are {@link #PHIDGET_SERVO_DEFAULT PHIDGET_SERVO_DEFAULT},
* {@link #PHIDGET_SERVO_RAW_us_MODE PHIDGET_SERVO_RAW_us_MODE}, {@link #PHIDGET_SERVO_HITEC_HS322HD PHIDGET_SERVO_HITEC_HS322HD},
* {@link #PHIDGET_SERVO_HITEC_HS5245MG PHIDGET_SERVO_HITEC_HS5245MG}, {@link #PHIDGET_SERVO_HITEC_805BB PHIDGET_SERVO_HITEC_805BB},
* {@link #PHIDGET_SERVO_HITEC_HS422 PHIDGET_SERVO_HITEC_HS422}, etc.
* @param index Input
* @return Servo Type
* @throws PhidgetException If this Phidget is not opened and attached, or if the index is out of range.
* See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
*/
public native int getServoType (int index) throws PhidgetException;
/**
* Sets the servo type for an index.
* <p>
* This constrains the PCM to the valid range of the servo, and sets the degrees-to-PCM ratio to match the actual servo rotation.
* <p>
* The possible values for type are {@link #PHIDGET_SERVO_DEFAULT PHIDGET_SERVO_DEFAULT},
* {@link #PHIDGET_SERVO_RAW_us_MODE PHIDGET_SERVO_RAW_us_MODE}, {@link #PHIDGET_SERVO_HITEC_HS322HD PHIDGET_SERVO_HITEC_HS322HD},
* {@link #PHIDGET_SERVO_HITEC_HS5245MG PHIDGET_SERVO_HITEC_HS5245MG}, {@link #PHIDGET_SERVO_HITEC_805BB PHIDGET_SERVO_HITEC_805BB},
* {@link #PHIDGET_SERVO_HITEC_HS422 PHIDGET_SERVO_HITEC_HS422}, etc.
* <p>
* Support for other servo types can be achieved by using {@link #setServoParameters setServoParameters}.
* <p>
* The default setting is {@link #PHIDGET_SERVO_DEFAULT PHIDGET_SERVO_DEFAULT}, which is used for historical (backwards compatibility) reasons.
* @param index Input
* @param type Servo Type
* @throws PhidgetException If this Phidget is not opened and attached, or if the index is out of range.
* See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
*/
public native void setServoType (int index, int type) throws PhidgetException;
/**
* Sets the servo parameters for a custom servo definition.
* <p>
* This constrains the PCM to the valid range of the servo, and sets the degrees-to-PCM ratio to match the actual servo rotation.
* <p>
* @param index Servo Index
* @param minUs Minimum PCM supported in microseconds
* @param maxUs Maximum PCM supported in microseconds
* @param degrees Degrees of rotation represented by the given PCM range
* @throws PhidgetException If this Phidget is not opened and attached, or if the index is out of range.
* See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached.
*/
public native void setServoParameters (int index, double minUs, double maxUs, double degrees) throws PhidgetException;
private final void enableDeviceSpecificEvents (boolean b)
{
enableServoPositionChangeEvents (b && servoPositionChangeListeners.size () > 0);
}
/**
* Adds a servo position change listener. The servo position change handler is a method that will be called when the servo position
* has changed. The event will get fired after every call to {@link #setPosition(int, double) setPosition}.
* <p>
* There is no limit on the number of servo position change handlers that can be registered for a particular Phidget.
*
* @param l An implemetation of the {@link com.phidgets.event.ServoPositionChangeListener ServoPositionChangeListener} interface
*/
public final void addServoPositionChangeListener (ServoPositionChangeListener l)
{
synchronized (servoPositionChangeListeners)
{
servoPositionChangeListeners.add (l);
enableServoPositionChangeEvents (true);
}} private LinkedList servoPositionChangeListeners = new LinkedList ();
private long nativeServoPositionChangeHandler = 0;
public final void removeServoPositionChangeListener (ServoPositionChangeListener l)
{
synchronized (servoPositionChangeListeners)
{
servoPositionChangeListeners.remove (l);
enableServoPositionChangeEvents (servoPositionChangeListeners.size () > 0);
}} private void fireServoPositionChange (ServoPositionChangeEvent e)
{
synchronized (servoPositionChangeListeners)
{
for (Iterator it = servoPositionChangeListeners.iterator (); it.hasNext ();)
((ServoPositionChangeListener) it.next ()).servoPositionChanged (e);
}
}
private native void enableServoPositionChangeEvents (boolean b);
}
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