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
|
/*
* 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 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.
* 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 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);
}
|
