1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
|
/*
* Copyright 2012 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.
* See your device's User Guide for more specific API details,
* technical information, and revision details. The User Guide, along with other resources, can be found on
* the product page for your device.
*
* @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);
}
|
