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Diffstat (limited to 'Java/com/phidgets/SpatialPhidget.java')
| -rw-r--r-- | Java/com/phidgets/SpatialPhidget.java | 205 |
1 files changed, 205 insertions, 0 deletions
diff --git a/Java/com/phidgets/SpatialPhidget.java b/Java/com/phidgets/SpatialPhidget.java new file mode 100644 index 0000000..bec1de7 --- /dev/null +++ b/Java/com/phidgets/SpatialPhidget.java @@ -0,0 +1,205 @@ +
+/*
+ * 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 Spatial. All methods for a PhidgetSpatial are implemented in this class.
+ <p>
+ The Phidget Spatial may provide up to 3 axes of acceleration data, 3 axes of angular rate data and 3 axes of magnetic field data.
+
+ * @author Phidgets Inc.
+ */
+public final class SpatialPhidget extends Phidget
+{
+ public SpatialPhidget () throws PhidgetException
+ {
+ super (create ());
+ }
+ private static native long create () throws PhidgetException;
+
+ /**
+ * Returns the number of accelerometer axes.
+ * @return number of axes of acceleration
+ */
+ public native int getAccelerationAxisCount () throws PhidgetException;
+ /**
+ * Returns the acceleration of a particular axis.
+ *
+ * @param index index of the axis
+ * @return acceleration of the selected axis
+ * @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 getAcceleration (int index) throws PhidgetException;
+ /**
+ * Returns the maximum acceleration value that this axis will report.
+ * @return maximum acceleration
+ */
+ public native double getAccelerationMax (int index) throws PhidgetException;
+ /**
+ * Returns the minimum acceleration value that this axis will report.
+ * @return minimum acceleration
+ */
+ public native double getAccelerationMin (int index) throws PhidgetException;
+
+ /**
+ * Returns the number of gyro axes.
+ * @return number of axes of angularRate
+ */
+ public native int getGyroAxisCount () throws PhidgetException;
+ /**
+ * Returns the angularRate of a particular axis.
+ *
+ * @param index index of the axis
+ * @return angularRate of the selected axis
+ * @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 getAngularRate (int index) throws PhidgetException;
+ /**
+ * Returns the maximum angularRate value that this axis will report.
+ * @return maximum angularRate
+ */
+ public native double getAngularRateMax (int index) throws PhidgetException;
+ /**
+ * Returns the minimum angularRate value that this axis will report.
+ * @return minimum angularRate
+ */
+ public native double getAngularRateMin (int index) throws PhidgetException;
+
+ /**
+ * Returns the number of compass axes.
+ * @return number of axes of magneticField
+ */
+ public native int getCompassAxisCount () throws PhidgetException;
+ /**
+ * Returns the magneticField of a particular axis.
+ *
+ * @param index index of the axis
+ * @return magneticField of the selected axis
+ * @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 getMagneticField (int index) throws PhidgetException;
+ /**
+ * Returns the maximum magneticField value that this axis will report.
+ * @return maximum magneticField
+ */
+ public native double getMagneticFieldMax (int index) throws PhidgetException;
+ /**
+ * Returns the minimum magneticField value that this axis will report.
+ * @return minimum magneticField
+ */
+ public native double getMagneticFieldMin (int index) throws PhidgetException;
+
+ /**
+ * Returns the data rate, in milliseconds.
+ *
+ * @return data rate
+ * @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 getDataRate () throws PhidgetException;
+ /**
+ * Sets the data rate, in milliseconds.
+ *
+ * @param rate data rate
+ * @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 setDataRate (int rate) throws PhidgetException;
+ /**
+ * Returns the minimum data rate, in milliseconds.
+ *
+ * @return minimum data rate
+ * @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 getDataRateMin () throws PhidgetException;
+ /**
+ * Returns the maximum data rate, in milliseconds.
+ *
+ * @return maximum data rate
+ * @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 getDataRateMax () throws PhidgetException;
+
+ /**
+ * Zeroes the gyroscope. This takes about two seconds and the gyro zxes will report 0 during the process.
+ * This should only be called when the board is not moving.
+ *
+ * @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 zeroGyro () throws PhidgetException;
+ /**
+ * Sets the compass correction factors. This can be used to correcting any sensor errors, including hard and soft iron offsets and sensor error factors.
+ *
+ * @param magField Local magnetic field strength.
+ * @param offset0 Axis 0 offset correction.
+ * @param offset1 Axis 1 offset correction.
+ * @param offset2 Axis 2 offset correction.
+ * @param gain0 Axis 0 gain correction.
+ * @param gain1 Axis 1 gain correction.
+ * @param gain2 Axis 2 gain correction.
+ * @param T0 Non-orthogonality correction factor 0.
+ * @param T1 Non-orthogonality correction factor 1.
+ * @param T2 Non-orthogonality correction factor 2.
+ * @param T3 Non-orthogonality correction factor 3.
+ * @param T4 Non-orthogonality correction factor 4.
+ * @param T5 Non-orthogonality correction factor 5.
+ * @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 setCompassCorrectionParameters (double magField, double offset0, double offset1, double offset2, double gain0, double gain1, double gain2, double T0, double T1, double T2,
+ double T3, double T4, double T5) throws PhidgetException;
+ /**
+ * Resets the compass correction factors. Magnetic field data will be presented directly as reported by the sensor.
+ *
+ * @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 resetCompassCorrectionParameters () throws PhidgetException;
+
+ private final void enableDeviceSpecificEvents (boolean b)
+ {
+ enableSpatialDataEvents (b && spatialDataListeners.size () > 0);
+ }
+ /**
+ * Adds a spatial data listener. The spatial data handler is a method that will be called at a rate of
+ * {@link #getDataRate() DataRate} that has been set for the device. This event contains data for all axes of all sensors.
+ * <p>
+ * There is no limit on the number of spatial data handlers that can be registered for a particular Phidget.
+ *
+ * @param l An implemetation of the {@link com.phidgets.event.SpatialDataListener SpatialDataListener} interface
+ */
+ public final void addSpatialDataListener (SpatialDataListener l)
+ {
+ synchronized (spatialDataListeners)
+ {
+ spatialDataListeners.add (l);
+ enableSpatialDataEvents (true);
+ }} private LinkedList spatialDataListeners = new LinkedList ();
+ private long nativeSpatialDataHandler = 0;
+ public final void removeSpatialDataListener (SpatialDataListener l)
+ {
+ synchronized (spatialDataListeners)
+ {
+ spatialDataListeners.remove (l);
+ enableSpatialDataEvents (spatialDataListeners.size () > 0);
+ }} private void fireSpatialData (SpatialDataEvent e)
+ {
+ synchronized (spatialDataListeners)
+ {
+ for (Iterator it = spatialDataListeners.iterator (); it.hasNext ();)
+ ((SpatialDataListener) it.next ()).data (e);
+ }
+ }
+ private native void enableSpatialDataEvents (boolean b);
+}
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