/* * 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 Advanced Servo Controller. All methods * to to control a motor controller and read back motor data are implemented in this class. *

* The Phidget Advanced Servo Controller is able to control 1 or more servo motors. Motos acceleration * and Velocity are controllable. The number of servos that can be controlled depends on the * version of the controller. * * @author Phidgets Inc. */ public final class AdvancedServoPhidget extends Phidget { public AdvancedServoPhidget () 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 servo motors supported by this Phidget. This does not neccesarily correspond * to the number of motors actually attached to the board. * @return number of supported motors * @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 int getMotorCount () throws PhidgetException; /** * Returns the maximum acceleration that a motor will accept, or return. *

This value is in degrees per second squared. * @param index Index of the motor * @return Maximum acceleration * @throws PhidgetException If this Phidget is not opened and attached, or if the index is invalid. * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached. */ public native double getAccelerationMax (int index) throws PhidgetException; /** * Returns the minimum acceleration that a motor will accept, or return. *

This value is in degrees per second squared. * @param index Index of the motor * @return Minimum acceleration * @throws PhidgetException If this Phidget is not opened and attached, or if the index is invalid. * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached. */ public native double getAccelerationMin (int index) throws PhidgetException; /** * Returns the maximum velocity that a servo motor will accept, or return. *

This value is in degrees per second. * @param index Index of the motor * @return Maximum velocity * @throws PhidgetException If this Phidget is not opened and attached, or if the index is invalid. * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached. */ public native double getVelocityMax (int index) throws PhidgetException; /** * Returns the minimum velocity that a servo motor will accept, or return. *

This value is in degrees per second. * @param index Index of the motor * @return Minimum velocity * @throws PhidgetException If this Phidget is not opened and attached, or if the index is invalid. * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached. */ public native double getVelocityMin (int index) throws PhidgetException; /** * Returns the maximum position that a servo motor will accept, or return. *

This value is in degrees. * @param index Index of the motor * @return Maximum position * @throws PhidgetException If this Phidget is not opened and attached, or if the index is invalid. * 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; /** * Sets the maximum position that a servo motor will accept, or return. This is for limiting the range of motion of the servo * controller. The Maximum cannot be extended beyond it's original value. *

This value is in degrees. * @param index Index of the motor * @param position Maximum position * @throws PhidgetException If this Phidget is not opened and attached, or if the index is invalid. * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached. */ public native void setPositionMax (int index, double position) throws PhidgetException; /** * Returns the minimum position that a servo motor will accept, or return. *

This value uses the same units as *

This value is in degrees. * @param index Index of the motor * @return Minimum position * @throws PhidgetException If this Phidget is not opened and attached, or if the index is invalid. * 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 minimum position that a servo motor will accept, or return. This is for limiting the range of motion of the servo * controller. The Minimum cannot be extended beyond it's original value. *

This value is in degrees. * @param index Index of the motor * @param position Minimum position * @throws PhidgetException If this Phidget is not opened and attached, or if the index is invalid. * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached. */ public native void setPositionMin (int index, double position) throws PhidgetException; /** * Returns a motor's acceleration. The valid range is between {@link #getAccelerationMin getAccelerationMin} * and {@link #getAccelerationMax getAccelerationMax}, and refers to how fast the Servo Controller will change the speed of a motor. *

This value is in degrees per second squared. * @param index index of motor * @return acceleration of motor * @throws PhidgetException If this Phidget is not opened and attached, if the index is invalid, or if the acceleration is unknown. * 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; /** * Sets a motor's acceleration. * The valid range is between {@link #getAccelerationMin getAccelerationMin} and {@link #getAccelerationMax getAccelerationMax}. * This controls how fast the motor changes speed. *

This value is in degrees per second squared. * @param index index of the motor * @param acceleration requested acceleration for that motor * @throws PhidgetException If this Phidget is not opened and attached, or if the index or acceleration are invalid. * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached. */ public native void setAcceleration (int index, double acceleration) throws PhidgetException; /** * Returns a motor's velocity limit. This is the maximum velocity that the motor will turn at. * The valid range is between {@link #getVelocityMin getVelocityMin} and {@link #getVelocityMax getVelocityMax}, * with 0 being stopped. *

This value is in degrees per second. * @param index index of the motor * @return current speed of the motor * @throws PhidgetException If this Phidget is not opened and attached, if the index is invalid, or if the velocity in unknown. * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached. */ public native double getVelocityLimit (int index) throws PhidgetException; /** * Sets a motor's velocity limit. This is the maximum velocity that the motor will turn at. * The valid range is between {@link #getVelocityMin getVelocityMin} and {@link #getVelocityMax getVelocityMax}, * with 0 being stopped. *

This value is in degrees per second. * @param index index of the motor * @param velocity requested velocity for the motor * @throws PhidgetException If this Phidget is not opened and attached, or if the index or velocity are invalid. * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached. */ public native void setVelocityLimit (int index, double velocity) throws PhidgetException; /** * Returns a motor's current velocity. The valid range is between {@link #getVelocityMin getVelocityMin} and {@link #getVelocityMax getVelocityMax}, * with 0 being stopped. *

This value is in degrees per second. * @param index index of the motor * @return current speed of the motor * @throws PhidgetException If this Phidget is not opened and attached, if the index is invalid, or if the velocity in unknown. * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached. */ public native double getVelocity (int index) throws PhidgetException; /** * Returns a motor's current position. This is the actual position that the motor is at right now. * The valid range is between {@link #getPositionMin getPositionMin} and {@link #getPositionMax getPositionMax}. *

This value is in degrees. * @param index index of the motor * @return current position of the motor * @throws PhidgetException If this Phidget is not opened and attached, if the index is invalid, or if the position in unknown. * 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; /** * Sets a motor's target position. Use this is set the target position for the servo. * If the servo is {@link #setEngaged engaged} it will start moving towards this target position. * The valid range is between {@link #getPositionMin getPositionMin} and {@link #getPositionMax getPositionMax}. *

This value is in degrees. * @param index index of the motor * @param position target position of the motor * @throws PhidgetException If this Phidget is not opened and attached, or if the index or position are invalid. * 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; /** * Returns the engaged state of a 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 boolean getEngaged (int index) throws PhidgetException; /** * Engage or disengage a motor. *

* This engages or disengages the servo motor. The motors are by default disengaged when the servo controller is plugged in. * When the servo is disengaged, position, velocity, etc. can all be set, but the motor will not start moving until it is engaged. * If position is read when a motor is disengaged, it will throw an exception. *

* This corresponds to a PCM of 0 being sent to the 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 void setEngaged (int index, boolean state) throws PhidgetException; /** * Returns the speed ramping state of a 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 boolean getSpeedRampingOn (int index) throws PhidgetException; /** * Sets the speed ramping state. *

* Disable speed ramping to disable velocity and acceleration control. With speed ramping disabled, the servo will be sent to * the desired position immediately upon receiving the command. This is how the regular Phidget Servo Controller works. *

* This is turned on by default. * * @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 setSpeedRampingOn (int index, boolean state) throws PhidgetException; /** * Returns a motor's current usage. The valid range depends on the servo controller. * This value is in Amps. * @param index index of the motor * @return current usage of the motor * @throws PhidgetException If this Phidget is not opened and attached, if the index is invalid, or if the value is unknown. * See {@link com.phidgets.Phidget#open(int) open} for information on determining if a device is attached. */ public native double getCurrent (int index) throws PhidgetException; /** * Returns the stopped state of a motor. Use this to determine if the motor is moving and/or up to date with the latest commands you have sent. * If this is true, the motor is guaranteed to be stopped and to have processed every command issued. Generally, this would * be polled after a target position is set to wait until that position is reached. * * @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 getStopped (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. *

* This constrains the PCM to the valid range of the servo, and sets the degrees-to-PCM ratio to match the actual servo rotation. * Velocity is also constrained to the maximum speed attainable by the servo. *

* 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. *

* Support for other servo types can be achieved by using {@link #setServoParameters setServoParameters}. *

* 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. *

* This constrains the PCM to the valid range of the servo, and sets the degrees-to-PCM ratio to match the actual servo rotation. * Velocity is also constrained to the maximum speed attainable by the servo. *

* @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 * @param velocityMax Maximum supported velocity of the servo in degrees/second * @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, double velocityMax) throws PhidgetException; private final void enableDeviceSpecificEvents (boolean b) { enableServoPositionChangeEvents (b && servoPositionChangeListeners.size () > 0); enableServoVelocityChangeEvents (b && servoVelocityChangeListeners.size () > 0); enableCurrentChangeEvents (b && currentChangeListeners.size () > 0); } /** * Adds a position change listener. The position change handler is a method that will be called when the servo * position has changed. *

* There is no limit on the number of 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); /** * Adds a velocity change listener. The velocity change handler is a method that will be called when the servo * velocity has changed. *

* There is no limit on the number of velocity change handlers that can be registered for a particular Phidget. * * @param l An implemetation of the {@link com.phidgets.event.ServoVelocityChangeListener ServoVelocityChangeListener} interface */ public final void addServoVelocityChangeListener (ServoVelocityChangeListener l) { synchronized (servoVelocityChangeListeners) { servoVelocityChangeListeners.add (l); enableServoVelocityChangeEvents (true); }} private LinkedList servoVelocityChangeListeners = new LinkedList (); private long nativeServoVelocityChangeHandler = 0; public final void removeServoVelocityChangeListener (ServoVelocityChangeListener l) { synchronized (servoVelocityChangeListeners) { servoVelocityChangeListeners.remove (l); enableServoVelocityChangeEvents (servoVelocityChangeListeners.size () > 0); }} private void fireServoVelocityChange (ServoVelocityChangeEvent e) { synchronized (servoVelocityChangeListeners) { for (Iterator it = servoVelocityChangeListeners.iterator (); it.hasNext ();) ((ServoVelocityChangeListener) it.next ()).servoVelocityChanged (e); } } private native void enableServoVelocityChangeEvents (boolean b); /** * Adds a current change listener. The current change handler is a method that will be called when the servo * current has changed. *

* There is no limit on the number of current change handlers that can be registered for a particular Phidget. *

* Note that not all stepper controllers support current sensing. * * @param l An implemetation of the {@link com.phidgets.event.CurrentChangeListener CurrentChangeListener} interface */ public final void addCurrentChangeListener (CurrentChangeListener l) { synchronized (currentChangeListeners) { currentChangeListeners.add (l); enableCurrentChangeEvents (true); }} private LinkedList currentChangeListeners = new LinkedList (); private long nativeCurrentChangeHandler = 0; public final void removeCurrentChangeListener (CurrentChangeListener l) { synchronized (currentChangeListeners) { currentChangeListeners.remove (l); enableCurrentChangeEvents (currentChangeListeners.size () > 0); }} private void fireCurrentChange (CurrentChangeEvent e) { synchronized (currentChangeListeners) { for (Iterator it = currentChangeListeners.iterator (); it.hasNext ();) ((CurrentChangeListener) it.next ()).currentChanged (e); } } private native void enableCurrentChangeEvents (boolean b); }