Imported Upstream version 2.1.8.20120216upstream/2.1.8.20120216

1 files changed, 286 insertions, 0 deletions

diff --git a/Java/com/phidgets/ServoPhidget.java b/Java/com/phidgets/ServoPhidget.java
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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);
+}