Motion¶

/**
 * Motion API
 * @author Andrej Cimperšek
 */
public interface Motion {
    /**
     * Sets parameters for next motor move
     * @param steps
     * @param freq
     */
    public void SetMove0(int steps, float freq);

    /**
     * Sets parameters for next motor move
     * @param steps
     * @param freq
     */
    public void SetMove1(int steps, float freq);

    /**
     * Moves motors according to set moves
     */
    public void Run();

    /**
     * Sets angular velocity in steps / sec
     * @param omega0
     */
    public void SetInitialAngularVel0(float omega0);

    /**
     * Sets angular velocity in steps / sec
     * @param omega0
     */
    public void SetInitialAngularVel1(float omega0);

    /**
     * Sets angular acceleration in steps / sec^2
     * @param accel
     */
    public void SetAngularAcceleration0(float accel);

    /**
     * Sets angular acceleration in steps / sec^2
     * @param accel
     */
    public void SetAngularAcceleration1(float accel);

    /**
     *
     * @param steps
     */
    public void SetLackCorrection0(short steps);

    /**
     *
     * @param steps
     */
    public void SetLackCorrection1(short steps);

    /**
     * Sets angular deceleration in steps / sec^2
     * @param decel
     */
    public void SetAngularDeceleration0(float decel);

    /**
     * Sets angular deceleration in steps / sec^2
     * @param decel
     */
    public void SetAngularDeceleration1(float decel);

    /**
     * Sets position for stepper 0
     * @param position
     */
    public void SetPosition0(int position);

    /**
     * Sets position for stepper 1
     * @param position
     */
    public void SetPosition1(int position);

    /**
     * Stops motor 0
     */
    public void StopMotor0();

    /**
     * Stops motor 1
     */
    public void StopMotor1();

    /**
     * Disables current on motor 0
     */
    public void MotorOff0();

    /**
     * Disables current on motor 1
     */
    public void MotorOff1();

    /**
     * Gets positions of both motors
     * @return Position
     */
    public Position GetPosition();

    /**
     * Set continuous key movement
     */
    public void SetContinuousKeyMovement();

    /**
     * Set single step key movement
     */
    public void SetSingleStepKeyMovement();

    /**
     * Simulate Left Key Press
     */
    public void SimulateLeftKeyPress();

    /**
     * Simulate Left Key Release
     */
    public void SimulateLeftKeyRelease();

    /**
     * Simulate Right Key Press
     */
    public void SimulateRightKeyPress();

    /**
     * Simulate Right Key Release
     */
    public void SimulateRightKeyRelease();

    /**
     * Simulate Up Key Press
     */
    public void SimulateUpKeyPress();

    /**
     * Simulate Up Key Release
     */
    public void SimulateUpKeyRelease();

    /**
     * Simulate Down Key Press
     */
    public void SimulateDownKeyPress();

    /**
     * Simulate Down Key Release
     */
    public void SimulateDownKeyRelease();

    /**
     * Sets automatic position reporting.
     * 0..turns off automatic position reporting, 50..9999 autoreport interval in milliseconds
     * @param interval
     */
    public void AutomaticPositionReporting(short interval);
}

/**
 * Motors position
 * @author Andrej Cimperšek
 */
public class Position {
    public int position0;
    public int position1;
}