root / trunk / src / java / org / lidar / api / Motion.java
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| 1 | 9 | andrej.cim | package org.lidar.api; |
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| 2 | |||
| 3 | import javax.comm.SerialPort; |
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| 4 | import org.lidar.Position; |
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| 5 | import javax.jws.WebMethod; |
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| 6 | import javax.jws.WebService; |
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| 7 | import org.lidar.Config; |
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| 8 | import org.lidar.Serial; |
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| 9 | |||
| 10 | /**
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| 11 | * Motion API
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| 12 | * @author Andrej Cimpersek
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| 13 | */
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| 14 | @WebService()
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| 15 | public class Motion extends Serial { |
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| 16 | |||
| 17 | 11 | andrej.cim | public Motion() {
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| 18 | 9 | andrej.cim | super("motion"); |
| 19 | openPort(); |
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| 20 | } |
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| 21 | |||
| 22 | /**
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| 23 | * Sets parameters for next motor move
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| 24 | * @param steps
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| 25 | * @param freq
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| 26 | */
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| 27 | @WebMethod()
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| 28 | 11 | andrej.cim | public void setMove0(int steps, float freq) { |
| 29 | } |
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| 30 | 9 | andrej.cim | |
| 31 | /**
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| 32 | * Sets parameters for next motor move
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| 33 | * @param steps
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| 34 | * @param freq
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| 35 | */
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| 36 | @WebMethod()
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| 37 | 11 | andrej.cim | public void setMove1(int steps, float freq) { |
| 38 | } |
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| 39 | 9 | andrej.cim | |
| 40 | /**
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| 41 | * Moves motors according to set moves
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| 42 | */
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| 43 | @WebMethod()
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| 44 | 11 | andrej.cim | public void run() { |
| 45 | } |
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| 46 | 9 | andrej.cim | |
| 47 | /**
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| 48 | * Sets angular velocity in steps / sec
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| 49 | * @param omega0
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| 50 | */
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| 51 | @WebMethod()
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| 52 | 11 | andrej.cim | public void setInitialAngularVel0(float omega0) { |
| 53 | } |
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| 54 | 9 | andrej.cim | |
| 55 | /**
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| 56 | * Sets angular velocity in steps / sec
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| 57 | * @param omega0
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| 58 | */
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| 59 | @WebMethod()
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| 60 | 11 | andrej.cim | public void setInitialAngularVel1(float omega0) { |
| 61 | } |
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| 62 | 9 | andrej.cim | |
| 63 | /**
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| 64 | * Sets angular acceleration in steps / sec^2
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| 65 | * @param accel
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| 66 | */
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| 67 | @WebMethod()
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| 68 | 11 | andrej.cim | public void setAngularAcceleration0(float accel) { |
| 69 | } |
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| 70 | 9 | andrej.cim | |
| 71 | /**
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| 72 | * Sets angular acceleration in steps / sec^2
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| 73 | * @param accel
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| 74 | */
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| 75 | @WebMethod()
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| 76 | 11 | andrej.cim | public void setAngularAcceleration1(float accel) { |
| 77 | } |
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| 78 | 9 | andrej.cim | |
| 79 | /**
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| 80 | *
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| 81 | * @param steps
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| 82 | */
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| 83 | @WebMethod()
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| 84 | 11 | andrej.cim | public void setLackCorrection0(short steps) { |
| 85 | } |
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| 86 | 9 | andrej.cim | |
| 87 | /**
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| 88 | *
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| 89 | * @param steps
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| 90 | */
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| 91 | @WebMethod()
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| 92 | 11 | andrej.cim | public void setLackCorrection1(short steps) { |
| 93 | } |
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| 94 | 9 | andrej.cim | |
| 95 | /**
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| 96 | * Sets angular deceleration in steps / sec^2
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| 97 | * @param decel
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| 98 | */
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| 99 | @WebMethod()
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| 100 | 11 | andrej.cim | public void setAngularDeceleration0(float decel) { |
| 101 | } |
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| 102 | 9 | andrej.cim | |
| 103 | /**
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| 104 | * Sets angular deceleration in steps / sec^2
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| 105 | * @param decel
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| 106 | */
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| 107 | @WebMethod()
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| 108 | 11 | andrej.cim | public void setAngularDeceleration1(float decel) { |
| 109 | } |
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| 110 | 9 | andrej.cim | |
| 111 | /**
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| 112 | * Sets position for stepper 0
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| 113 | * @param position
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| 114 | */
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| 115 | @WebMethod()
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| 116 | 11 | andrej.cim | public void setPosition0(int position) { |
| 117 | } |
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| 118 | 9 | andrej.cim | |
| 119 | /**
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| 120 | * Sets position for stepper 1
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| 121 | * @param position
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| 122 | */
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| 123 | @WebMethod()
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| 124 | 11 | andrej.cim | public void setPosition1(int position) { |
| 125 | } |
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| 126 | 9 | andrej.cim | |
| 127 | /**
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| 128 | * Stops motor 0
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| 129 | */
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| 130 | @WebMethod()
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| 131 | 11 | andrej.cim | public void stopMotor0() { |
| 132 | } |
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| 133 | 9 | andrej.cim | |
| 134 | /**
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| 135 | * Stops motor 1
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| 136 | */
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| 137 | @WebMethod()
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| 138 | 11 | andrej.cim | public void stopMotor1() { |
| 139 | } |
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| 140 | 9 | andrej.cim | |
| 141 | /**
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| 142 | * Disables current on motor 0
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| 143 | */
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| 144 | @WebMethod()
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| 145 | 11 | andrej.cim | public void setMotorOff0() { |
| 146 | } |
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| 147 | 9 | andrej.cim | |
| 148 | /**
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| 149 | * Disables current on motor 1
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| 150 | */
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| 151 | @WebMethod()
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| 152 | 11 | andrej.cim | public void setMotorOff1() { |
| 153 | } |
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| 154 | 9 | andrej.cim | |
| 155 | /**
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| 156 | * Gets positions of both motors
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| 157 | * @return Position
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| 158 | */
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| 159 | @WebMethod()
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| 160 | 11 | andrej.cim | public Position getPosition() { |
| 161 | 9 | andrej.cim | return new Position(); |
| 162 | 11 | andrej.cim | } |
| 163 | 9 | andrej.cim | |
| 164 | /**
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| 165 | * Set continuous key movement
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| 166 | */
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| 167 | @WebMethod()
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| 168 | 11 | andrej.cim | public void setContinuousKeyMovement() { |
| 169 | } |
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| 170 | 9 | andrej.cim | |
| 171 | /**
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| 172 | * Set single step key movement
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| 173 | */
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| 174 | @WebMethod()
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| 175 | 11 | andrej.cim | public void setSingleStepKeyMovement() { |
| 176 | } |
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| 177 | 9 | andrej.cim | |
| 178 | /**
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| 179 | * Simulate Left Key Press
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| 180 | */
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| 181 | @WebMethod()
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| 182 | 11 | andrej.cim | public void simulateLeftKeyPress() { |
| 183 | } |
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| 184 | 9 | andrej.cim | |
| 185 | /**
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| 186 | * Simulate Left Key Release
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| 187 | */
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| 188 | @WebMethod()
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| 189 | 11 | andrej.cim | public void simulateLeftKeyRelease() { |
| 190 | } |
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| 191 | 9 | andrej.cim | |
| 192 | /**
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| 193 | * Simulate Right Key Press
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| 194 | */
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| 195 | @WebMethod()
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| 196 | 11 | andrej.cim | public void simulateRightKeyPress() { |
| 197 | } |
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| 198 | 9 | andrej.cim | |
| 199 | /**
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| 200 | * Simulate Right Key Release
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| 201 | */
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| 202 | @WebMethod()
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| 203 | 11 | andrej.cim | public void simulateRightKeyRelease() { |
| 204 | } |
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| 205 | 9 | andrej.cim | |
| 206 | /**
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| 207 | * Simulate Up Key Press
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| 208 | */
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| 209 | @WebMethod()
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| 210 | 11 | andrej.cim | public void simulateUpKeyPress() { |
| 211 | } |
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| 212 | 9 | andrej.cim | |
| 213 | /**
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| 214 | * Simulate Up Key Release
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| 215 | */
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| 216 | @WebMethod()
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| 217 | 11 | andrej.cim | public void simulateUpKeyRelease() { |
| 218 | } |
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| 219 | 9 | andrej.cim | |
| 220 | /**
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| 221 | * Simulate Down Key Press
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| 222 | */
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| 223 | @WebMethod()
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| 224 | 11 | andrej.cim | public void simulateDownKeyPress() { |
| 225 | } |
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| 226 | 9 | andrej.cim | |
| 227 | /**
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| 228 | * Simulate Down Key Release
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| 229 | */
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| 230 | @WebMethod()
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| 231 | 11 | andrej.cim | public void simulateDownKeyRelease() { |
| 232 | } |
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| 233 | 9 | andrej.cim | |
| 234 | /**
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| 235 | * Sets automatic position reporting.
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| 236 | * 0..turns off automatic position reporting, 50..9999 autoreport interval in milliseconds
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| 237 | * @param interval
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| 238 | */
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| 239 | @WebMethod()
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| 240 | 11 | andrej.cim | public void setAutomaticPositionReporting(short interval) { |
| 241 | } |
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| 242 | 9 | andrej.cim | } |