net.sf.jaer.hardwareinterface
Interface ServoInterface

All Superinterfaces:

HardwareInterface

All Known Implementing Classes:

SiLabsC8051F320_USBIO_CarServoController, SiLabsC8051F320_USBIO_ServoController, WowWeeAliveHardwareInterface, WowWeeRSHardwareInterface

public interface ServoInterface
extends HardwareInterface

A hardware interface that can set a set of servos implements this interface.

Author:

tobi

Method Summary

void	disableAllServos() disables all servos
void	disableServo(int servo) sends a servo value to disable the servo
float	getLastServoValue(int servo) Returns last servo value sent (0 before sending a value)
float[]	getLastServoValues() Returns last servo values sent.
int	getNumServos()
void	setAllServoValues(float[] values) sets all servos to values passed in array.
void	setPort2(int portValue) sends a command to set the port 2 output (on the side of the original board) to portValue.
void	setServoValue(int servo, float value) Sets a servo value.

Methods inherited from interface net.sf.jaer.hardwareinterface.HardwareInterface

close, getTypeName, isOpen, open

Method Detail

setServoValue

void setServoValue(int servo,
                   float value)
                   throws HardwareInterfaceException

Sets a servo value.

Parameters:

servo - the servo to set, 0 based.

value - the servo value, 0 to 1 value, value is clipped to 0,1 limits. 0 is most CW, 1 is most CCW when viewed looking down onto servo motor shaft, i.e. looking onto servo motor and not from behind it.

Throws:

HardwareInterfaceException

See Also:

setAllServoValues(float[])

disableServo

void disableServo(int servo)
                  throws HardwareInterfaceException

sends a servo value to disable the servo

Parameters:

servo - the servo number, 0 based

Throws:

HardwareInterfaceException

getNumServos

int getNumServos()

Returns:

number of servos supported by this interface

disableAllServos

void disableAllServos()
                      throws HardwareInterfaceException

disables all servos

Throws:

HardwareInterfaceException

setAllServoValues

void setAllServoValues(float[] values)
                       throws HardwareInterfaceException

sets all servos to values passed in array. This call sets all servo values in one method call and sends all values in a single interface transaction, reducing overhead and making changes synchronous.

Parameters:

values - array of values, 0-1 range. Values are clipped to 0-1 limits. 0 is most CW, 1 is most CCW when viewed looking down onto shaft of servo from in front of servo.

Throws:

HardwareInterfaceException

See Also:

getNumServos()

getLastServoValues

float[] getLastServoValues()

Returns last servo values sent.

getLastServoValue

float getLastServoValue(int servo)

Returns last servo value sent (0 before sending a value)

setPort2

void setPort2(int portValue)

sends a command to set the port 2 output (on the side of the original board) to portValue. This port is presently set to open-drain mode on all bits.

Parameters:

portValue - the bits to set