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Diffstat (limited to 'Java/com/phidgets/ServoPhidget.java')
| -rw-r--r-- | Java/com/phidgets/ServoPhidget.java | 286 |
1 files changed, 286 insertions, 0 deletions
diff --git a/Java/com/phidgets/ServoPhidget.java b/Java/com/phidgets/ServoPhidget.java new file mode 100644 index 0000000..aa9f05f --- /dev/null +++ b/Java/com/phidgets/ServoPhidget.java @@ -0,0 +1,286 @@ + +/* + * 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); +} |