edu.wpi.SimplePacketComs.device.hephaestus

Class HephaestusArm

java.lang.Object

edu.wpi.SimplePacketComs.AbstractSimpleComsDevice

edu.wpi.SimplePacketComs.phy.HIDSimplePacketComs

edu.wpi.SimplePacketComs.device.hephaestus.HephaestusArm

All Implemented Interfaces:

Device, IPhysicalLayer

public class HephaestusArm
extends HIDSimplePacketComs

Constructor Summary

Constructors

Constructor and Description
HephaestusArm(int vidIn, int pidIn)

Method Summary

Modifier and Type	Method and Description
void	addPollingPacketEvent(java.lang.Runnable event)
double	getPosition(int index)
java.lang.Number[]	getRawValues()
java.util.List<java.lang.Double>	getValues(int index)
void	pushPDVelGains()
void	pushPIDGains()
void	pushVelocity()
void	setPDVelGains(int index, float kp, float kd)
void	setPIDGains(int index, float kp, float ki, float kd)
void	setRawValues(java.lang.Number[] set)
void	setValuesevent(int index, float position, float velocity, float force)
void	setVelocity(int index, float TPS)

Methods inherited from class edu.wpi.SimplePacketComs.phy.HIDSimplePacketComs

connectDeviceImp, disconnectDeviceImp, getPid, getVid, read, setPid, setVid, write

Methods inherited from class edu.wpi.SimplePacketComs.AbstractSimpleComsDevice

addEvent, addPollingPacket, connect, disconnect, getIDs, getName, isTimedOut, isVirtual, readBytes, readBytes, readFloats, readFloats, removeEvent, setName, setReadTimeout, setVirtual, writeBytes, writeBytes, writeFloats, writeFloats

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

HephaestusArm

public HephaestusArm(int vidIn,
                     int pidIn)

Method Detail

addPollingPacketEvent

public void addPollingPacketEvent(java.lang.Runnable event)

setValuesevent

public void setValuesevent(int index,
                           float position,
                           float velocity,
                           float force)

setPIDGains

public void setPIDGains(int index,
                        float kp,
                        float ki,
                        float kd)

pushPIDGains

public void pushPIDGains()

setPDVelGains

public void setPDVelGains(int index,
                          float kp,
                          float kd)

pushPDVelGains

public void pushPDVelGains()

setVelocity

public void setVelocity(int index,
                        float TPS)

pushVelocity

public void pushVelocity()

getValues

public java.util.List<java.lang.Double> getValues(int index)

getPosition

public double getPosition(int index)

getRawValues

public java.lang.Number[] getRawValues()

setRawValues

public void setRawValues(java.lang.Number[] set)