Motion » History » Version 3
Andrej Cimperšek, 06/17/2010 01:21 PM
| 1 | 1 | Andrej Cimperšek | h1. Motion |
|---|---|---|---|
| 2 | 1 | Andrej Cimperšek | |
| 3 | 1 | Andrej Cimperšek | !https://redmine.pint.upr.si/attachments/download/337/API_motion.png! |
| 4 | 2 | Andrej Cimperšek | |
| 5 | 2 | Andrej Cimperšek | |
| 6 | 2 | Andrej Cimperšek | <pre><code class="java"> |
| 7 | 2 | Andrej Cimperšek | /** |
| 8 | 2 | Andrej Cimperšek | * Motion API |
| 9 | 2 | Andrej Cimperšek | * @author Andrej Cimperšek |
| 10 | 2 | Andrej Cimperšek | */ |
| 11 | 2 | Andrej Cimperšek | public interface Motion { |
| 12 | 3 | Andrej Cimperšek | /** |
| 13 | 3 | Andrej Cimperšek | * Sets parameters for next motor move |
| 14 | 3 | Andrej Cimperšek | * @param steps |
| 15 | 3 | Andrej Cimperšek | * @param freq |
| 16 | 3 | Andrej Cimperšek | */ |
| 17 | 3 | Andrej Cimperšek | public void SetMove0(int steps, float freq); |
| 18 | 3 | Andrej Cimperšek | |
| 19 | 3 | Andrej Cimperšek | /** |
| 20 | 3 | Andrej Cimperšek | * Sets parameters for next motor move |
| 21 | 3 | Andrej Cimperšek | * @param steps |
| 22 | 3 | Andrej Cimperšek | * @param freq |
| 23 | 3 | Andrej Cimperšek | */ |
| 24 | 3 | Andrej Cimperšek | public void SetMove1(int steps, float freq); |
| 25 | 3 | Andrej Cimperšek | |
| 26 | 3 | Andrej Cimperšek | /** |
| 27 | 3 | Andrej Cimperšek | * Moves motors according to set moves |
| 28 | 3 | Andrej Cimperšek | */ |
| 29 | 3 | Andrej Cimperšek | public void Run(); |
| 30 | 3 | Andrej Cimperšek | |
| 31 | 3 | Andrej Cimperšek | /** |
| 32 | 3 | Andrej Cimperšek | * Sets angualr velocity in steps / sec |
| 33 | 3 | Andrej Cimperšek | * @param omega0 |
| 34 | 3 | Andrej Cimperšek | */ |
| 35 | 3 | Andrej Cimperšek | public void SetInitialAngularVel0(float omega0); |
| 36 | 3 | Andrej Cimperšek | |
| 37 | 3 | Andrej Cimperšek | /** |
| 38 | 3 | Andrej Cimperšek | * Sets angualr velocity in steps / sec |
| 39 | 3 | Andrej Cimperšek | * @param omega0 |
| 40 | 3 | Andrej Cimperšek | */ |
| 41 | 3 | Andrej Cimperšek | public void SetInitialAngularVel1(float omega0); |
| 42 | 3 | Andrej Cimperšek | |
| 43 | 3 | Andrej Cimperšek | /** |
| 44 | 3 | Andrej Cimperšek | * Sets angualr acceleration in steps / sec^2 |
| 45 | 3 | Andrej Cimperšek | * @param accel |
| 46 | 3 | Andrej Cimperšek | */ |
| 47 | 3 | Andrej Cimperšek | public void SetAngularAcceleration0(float accel); |
| 48 | 3 | Andrej Cimperšek | |
| 49 | 3 | Andrej Cimperšek | /** |
| 50 | 3 | Andrej Cimperšek | * Sets angualr acceleration in steps / sec^2 |
| 51 | 3 | Andrej Cimperšek | * @param accel |
| 52 | 3 | Andrej Cimperšek | */ |
| 53 | 3 | Andrej Cimperšek | public void SetAngularAcceleration1(float accel); |
| 54 | 3 | Andrej Cimperšek | |
| 55 | 3 | Andrej Cimperšek | /** |
| 56 | 3 | Andrej Cimperšek | * |
| 57 | 3 | Andrej Cimperšek | * @param steps |
| 58 | 3 | Andrej Cimperšek | */ |
| 59 | 3 | Andrej Cimperšek | public void SetLackCorrection0(short steps); |
| 60 | 3 | Andrej Cimperšek | |
| 61 | 3 | Andrej Cimperšek | /** |
| 62 | 3 | Andrej Cimperšek | * |
| 63 | 3 | Andrej Cimperšek | * @param steps |
| 64 | 3 | Andrej Cimperšek | */ |
| 65 | 3 | Andrej Cimperšek | public void SetLackCorrection1(short steps); |
| 66 | 3 | Andrej Cimperšek | |
| 67 | 3 | Andrej Cimperšek | /** |
| 68 | 3 | Andrej Cimperšek | * Sets angualr deceleration in steps / sec^2 |
| 69 | 3 | Andrej Cimperšek | * @param decel |
| 70 | 3 | Andrej Cimperšek | */ |
| 71 | 3 | Andrej Cimperšek | public void SetAngularDeceleration0(float decel); |
| 72 | 3 | Andrej Cimperšek | |
| 73 | 3 | Andrej Cimperšek | /** |
| 74 | 3 | Andrej Cimperšek | * Sets angualr deceleration in steps / sec^2 |
| 75 | 3 | Andrej Cimperšek | * @param decel |
| 76 | 3 | Andrej Cimperšek | */ |
| 77 | 3 | Andrej Cimperšek | public void SetAngularDeceleration1(float decel); |
| 78 | 3 | Andrej Cimperšek | |
| 79 | 3 | Andrej Cimperšek | /** |
| 80 | 3 | Andrej Cimperšek | * Sets position for stepper 0 |
| 81 | 3 | Andrej Cimperšek | * @param position |
| 82 | 3 | Andrej Cimperšek | */ |
| 83 | 3 | Andrej Cimperšek | public void SetPosition0(int position); |
| 84 | 3 | Andrej Cimperšek | |
| 85 | 3 | Andrej Cimperšek | /** |
| 86 | 3 | Andrej Cimperšek | * Sets position for stepper 1 |
| 87 | 3 | Andrej Cimperšek | * @param position |
| 88 | 3 | Andrej Cimperšek | */ |
| 89 | 3 | Andrej Cimperšek | public void SetPosition1(int position); |
| 90 | 3 | Andrej Cimperšek | |
| 91 | 3 | Andrej Cimperšek | /** |
| 92 | 3 | Andrej Cimperšek | * Stops motor 0 |
| 93 | 3 | Andrej Cimperšek | */ |
| 94 | 3 | Andrej Cimperšek | public void StopMotor0(); |
| 95 | 3 | Andrej Cimperšek | |
| 96 | 3 | Andrej Cimperšek | /** |
| 97 | 3 | Andrej Cimperšek | * Stops motor 1 |
| 98 | 3 | Andrej Cimperšek | */ |
| 99 | 3 | Andrej Cimperšek | public void StopMotor1(); |
| 100 | 3 | Andrej Cimperšek | |
| 101 | 3 | Andrej Cimperšek | /** |
| 102 | 3 | Andrej Cimperšek | * Disables current on motor 0 |
| 103 | 3 | Andrej Cimperšek | */ |
| 104 | 3 | Andrej Cimperšek | public void MotorOff0(); |
| 105 | 3 | Andrej Cimperšek | |
| 106 | 3 | Andrej Cimperšek | /** |
| 107 | 3 | Andrej Cimperšek | * Disables current on motor 1 |
| 108 | 3 | Andrej Cimperšek | */ |
| 109 | 3 | Andrej Cimperšek | public void MotorOff1(); |
| 110 | 3 | Andrej Cimperšek | |
| 111 | 3 | Andrej Cimperšek | /** |
| 112 | 3 | Andrej Cimperšek | * Gets positions of both motors |
| 113 | 3 | Andrej Cimperšek | * @return Position |
| 114 | 3 | Andrej Cimperšek | */ |
| 115 | 3 | Andrej Cimperšek | public Position GetPosition(); |
| 116 | 3 | Andrej Cimperšek | |
| 117 | 3 | Andrej Cimperšek | /** |
| 118 | 3 | Andrej Cimperšek | * Set continuous key movement |
| 119 | 3 | Andrej Cimperšek | */ |
| 120 | 3 | Andrej Cimperšek | public void SetContinuousKeyMovement(); |
| 121 | 3 | Andrej Cimperšek | |
| 122 | 3 | Andrej Cimperšek | /** |
| 123 | 3 | Andrej Cimperšek | * Set single step key movement |
| 124 | 3 | Andrej Cimperšek | */ |
| 125 | 3 | Andrej Cimperšek | public void SetSingleStepKeyMovement(); |
| 126 | 3 | Andrej Cimperšek | |
| 127 | 3 | Andrej Cimperšek | /** |
| 128 | 3 | Andrej Cimperšek | * Simulate Left Key Press |
| 129 | 3 | Andrej Cimperšek | */ |
| 130 | 3 | Andrej Cimperšek | public void SimulateLeftKeyPress(); |
| 131 | 3 | Andrej Cimperšek | |
| 132 | 3 | Andrej Cimperšek | /** |
| 133 | 3 | Andrej Cimperšek | * Simulate Left Key Release |
| 134 | 3 | Andrej Cimperšek | */ |
| 135 | 3 | Andrej Cimperšek | public void SimulateLeftKeyRelease(); |
| 136 | 3 | Andrej Cimperšek | |
| 137 | 3 | Andrej Cimperšek | /** |
| 138 | 3 | Andrej Cimperšek | * Simulate Right Key Press |
| 139 | 3 | Andrej Cimperšek | */ |
| 140 | 3 | Andrej Cimperšek | public void SimulateRightKeyPress(); |
| 141 | 3 | Andrej Cimperšek | |
| 142 | 3 | Andrej Cimperšek | /** |
| 143 | 3 | Andrej Cimperšek | * Simulate Right Key Release |
| 144 | 3 | Andrej Cimperšek | */ |
| 145 | 3 | Andrej Cimperšek | public void SimulateRightKeyRelease(); |
| 146 | 3 | Andrej Cimperšek | |
| 147 | 3 | Andrej Cimperšek | /** |
| 148 | 3 | Andrej Cimperšek | * Simulate Up Key Press |
| 149 | 3 | Andrej Cimperšek | */ |
| 150 | 3 | Andrej Cimperšek | public void SimulateUpKeyPress(); |
| 151 | 3 | Andrej Cimperšek | |
| 152 | 3 | Andrej Cimperšek | /** |
| 153 | 3 | Andrej Cimperšek | * Simulate Up Key Release |
| 154 | 3 | Andrej Cimperšek | */ |
| 155 | 3 | Andrej Cimperšek | public void SimulateUpKeyRelease(); |
| 156 | 3 | Andrej Cimperšek | |
| 157 | 3 | Andrej Cimperšek | /** |
| 158 | 3 | Andrej Cimperšek | * Simulate Down Key Press |
| 159 | 3 | Andrej Cimperšek | */ |
| 160 | 3 | Andrej Cimperšek | public void SimulateDownKeyPress(); |
| 161 | 3 | Andrej Cimperšek | |
| 162 | 3 | Andrej Cimperšek | /** |
| 163 | 3 | Andrej Cimperšek | * Simulate Down Key Release |
| 164 | 3 | Andrej Cimperšek | */ |
| 165 | 3 | Andrej Cimperšek | public void SimulateDownKeyRelease(); |
| 166 | 3 | Andrej Cimperšek | |
| 167 | 3 | Andrej Cimperšek | /** |
| 168 | 3 | Andrej Cimperšek | * Sets automatic position reporting. |
| 169 | 3 | Andrej Cimperšek | * 0..turns off automatic position reporting, 50..9999 autoreport interval in miliseconds |
| 170 | 3 | Andrej Cimperšek | * @param interval |
| 171 | 3 | Andrej Cimperšek | */ |
| 172 | 3 | Andrej Cimperšek | public void AutomaticPositionReporting(short interval); |
| 173 | 2 | Andrej Cimperšek | } |
| 174 | 2 | Andrej Cimperšek | </code></pre> |