ohmm
Class OHMMDrive

java.lang.Object
  ohmm.OHMM
      ohmm.OHMMDrive

Direct Known Subclasses:

OHMMSite

public class OHMMDrive
extends OHMM

OHMM high level processor lib with extensions for the drive module.

Author:

Marsette A. Vona

Nested Class Summary

class	OHMMDrive.AllStateDrive state data structure for OHMM.allState(ohmm.OHMM.AllState)
class	OHMMDrive.DriveState state data structure for driveState(ohmm.OHMMDrive.DriveState)

Nested classes/interfaces inherited from class ohmm.OHMM

OHMM.AllState, OHMM.AnalogChannel, OHMM.ArmState, OHMM.AXReg, OHMM.AXState, OHMM.BatState, OHMM.DigitalPin, OHMM.MotState, OHMM.OHMMState, OHMM.SenseState, OHMM.TaskState

Field Summary

static int	DRIVE_CFG_INDEX_B float index for driveGetCfg(float[])
static int	DRIVE_CFG_INDEX_MA float index for driveGetCfg(float[])
static int	DRIVE_CFG_INDEX_MS float index for driveGetCfg(float[])
static int	DRIVE_CFG_INDEX_R float index for driveGetCfg(float[])
static int	DRIVE_CFG_INDEX_TOL float index for driveGetCfg(float[])
static int	DRIVE_CFG_LEN max cfg floats for driveGetCfg(float[])
static int	DRIVE_ERR_ODOM status flag for OHMM.status(int[])
static int	DRIVE_ERR_TIMEOUT status flag for OHMM.status(int[])
static int	STATUS_INDEX_ARM status index for OHMM.status(int[])
static int	STATUS_INDEX_DRIVE status index for OHMM.status(int[])
static int	STATUS_LEN num bytes for OHMM.status(int[]), see getStatusLength()
private static java.lang.String	svnid
static Version	VERSION Version info for the OHMM hlp library.

Fields inherited from class ohmm.OHMM

ARM_ACTIVE, ARM_AT_GOAL, ARM_ELBOW, ARM_ERR_AX, ARM_FREEZE_CAL, ARM_GRIPPER, ARM_SHOULDER, ARM_WRIST, avgRecvWait, avgSendWait, AX_ERR_ANGLE_LIMIT, AX_ERR_CHECKSUM, AX_ERR_INSTRUCTION, AX_ERR_OVERHEATING, AX_ERR_OVERLOAD, AX_ERR_RANGE, AX_ERR_TIMEOUT, AX_ERR_TRANSACTION, AX_ERR_VOLTAGE, AX_ID_BCAST, bytesReceived, bytesSent, CMD_NAME_MAX, codes, commandDelay, debug, DEF_COMMAND_DELAY, DEF_PROCESS_INIT_WAIT, DEF_RECV_POLL_TIME, DEF_TIMEOUT_FILE, DEF_TIMEOUT_PROXY, DEF_TIMEOUT_RXTX, DF2, DF4, errorHandler, flushBuf, flushNext, HLP_ERR_RECV, HLP_ERR_SEND, INIT_DELAY, INITIAL_FLUSH_BUF_LEN, istream, LCD_WIDTH, LEFT, maxRecvWait, maxSendWait, minRecvWait, minSendWait, MOT_ERR_ENC_L, MOT_ERR_ENC_R, MOT_ERR_VEL_L, MOT_ERR_VEL_R, NUM_INIT_ZEROS, numTimeouts, OHMM_SITE_CLASS, OHMM_SITE_CLASS_PROP, ostream, PID_FPF, recvPollTime, recvTimedOut, RIGHT, RXTX_BAUDRATE, RXTX_OPEN_TIMEOUT_MS, RXTX_PORT_OWNER_NAME, rxtxSerialPort, SCAL_N, STATUS_INDEX_BAT, STATUS_INDEX_HLP, STATUS_INDEX_MOT, STATUS_INDEX_TASK, TASK_ERR_COLLISION, TASK_ERR_MEM, timeout, totalRecvWait, totalSendWait, USAGE

Constructor Summary

OHMMDrive()
Calls superclass constructor.

OHMMDrive(double initWait, java.lang.String[] cmd)
Calls superclass constructor.

OHMMDrive(ErrorHandler eh)
Calls superclass constructor.

OHMMDrive(ErrorHandler eh, double initWait, java.lang.String[] cmd)
Calls superclass constructor.

OHMMDrive(ErrorHandler eh, java.io.File p)
Calls superclass constructor.

OHMMDrive(ErrorHandler eh, java.lang.String p)
Calls superclass constructor.

OHMMDrive(ErrorHandler eh, java.lang.String[] cmd)
Calls superclass constructor.

OHMMDrive(java.io.File p)
Calls superclass constructor.

OHMMDrive(java.lang.String p)
Calls superclass constructor.

OHMMDrive(java.lang.String[] cmd)
Calls superclass constructor.

Method Summary

boolean	driveArc(float l, float d) Runs monitor command "da".
boolean	driveArcDeg(float l, float d) Runs monitor command "dad".
static java.lang.String	driveCfgToString(float[] cfg) Convert drive config to a human readable message.
static java.lang.StringBuilder	driveCfgToString(float[] cfg, java.lang.StringBuilder sb) helper for driveCfgToString(float[])
float[]	driveGetCfg() covers driveGetCfg(float[]), always conses
float[]	driveGetCfg(float[] cfg) Runs monitor command "dgcfg".
float[]	driveGetPose() calls driveGetPose(float[]), always conses
float[]	driveGetPose(float[] xyt) Runs monitor command "dgp".
int	driveGetQueue() Runs monitor command "dgq".
float[]	driveGetVL() calls driveGetVL(float[]), always conses
float[]	driveGetVL(float[] vl) Runs monitor command "dgvl".
float[]	driveGetVW() calls driveGetVW(float[]), always conses
float[]	driveGetVW(float[] vw) Runs monitor command "dgvw".
boolean	driveOrientationServo(float t) Runs monitor command "dos".
void	drivePause() Runs monitor command "dp".
void	driveReinit() Runs monitor command "dri".
void	driveResetPose() Runs monitor command "drp".
void	driveSetBaseline(float b) Runs monitor command "dsbl".
void	driveSetMaxAccel(float a) Runs monitor command "dsma".
boolean	driveSetMaxSpeed(float s) Runs monitor command "dsms".
void	driveSetPosDGain(float g) Runs the monitor command "dsdg".
void	driveSetPose(float x, float y, float t) Runs monitor command "dsp".
void	driveSetPosIGain(float g) Runs the monitor command "dsig".
void	driveSetPosPGain(float g) Runs the monitor command "dspg".
void	driveSetTol(float t) Runs monitor command "dstol".
boolean	driveSetVL(float v, float l) Runs monitor command "dsvl".
boolean	driveSetVW(float v, float w) Runs monitor command "dsvw".
void	driveSetWheelRadius(float r) Runs monitor command "dswr".
OHMMDrive.DriveState	driveState() covers driveState(DriveState), always conses
OHMMDrive.DriveState	driveState(OHMMDrive.DriveState state) Runs monitor command "drvst".
void	driveStop() Runs monitor command "dst".
boolean	driveStraight(float d) Runs monitor command "df".
boolean	driveTurn(float d) Runs monitor command "dt".
boolean	driveTurnDeg(float d) Runs monitor command "dtd".
void	driveUnPause() Runs monitor command "dup".
java.lang.String	getHLPVersion() get a human-readable string giving the OHMM hlp library version
int	getStatusIndexArm() Get module OHMM.status(int[]) byte index.
int	getStatusIndexDrive() Get module OHMM.status(int[]) byte index.
int	getStatusLength() Get number of bytes expected from llp for OHMM.status(int[]).
OHMM.AllState	makeAllState() Factory method to cons an OHMM.AllState.
java.lang.StringBuilder	statusToString(int[] status, java.lang.StringBuilder sb) helper for OHMM.statusToString(int[])

Methods inherited from class ohmm.OHMM

allState, allState, armActive, armAtGoal, armCal, armEnable, armFreezeAllCal, armGetAllCal, armGetAllCal, armGetAllJoints, armGetAllJoints, armGetAllJointsDeg, armGetAllJointsDeg, armGetAllJointsRad, armGetAllJointsRad, armGetCal, armGetGripper, armGetJoint, armGetJointDeg, armGetJointRad, armGetLoads, armGetLoads, armGetNumAXErrors, armGetTemps, armGetTemps, armHome, armReinit, armSetAllCal, armSetAllJoints, armSetAllJointsDeg, armSetAllJointsRad, armSetCal, armSetGripper, armSetJoint, armSetJointDeg, armSetJointRad, armState, armState, axAction, axErrToString, axESTOP, axGetLoad, axGetNumOverflows, axGetNumRetries, axGetNumTimeouts, axGetPos, axGetPosDeg, axGetPosRad, axGetTemp, axGetVolts, axPing, axRead, axRead, axRead16, axRead16, axRegSetGoal, axRegSetGoalDeg, axRegSetGoalRad, axRegWrite, axRegWrite, axRegWrite11, axRegWrite11, axReinit, axSetAngleLimits, axSetGoal, axSetGoalDeg, axSetGoalImpl, axSetGoalImpl, axSetGoalRad, axState, axState, axTorqueEnable, axWrite, axWrite, axWrite11, axWrite11, axWriteImpl, batMillivolts, batState, batState, close, dbg, drainReceiveBuffer, dumpStats, dumpStats, echo, echo, echo, echoFix, estop, fmt2, fmt4, freeRam, getBytesReceived, getBytesSent, getCmdCode, getCommandDelay, getCurrentTime, getDebug, getErrorHandler, getMonitorVersion, getNumTimeouts, getOHMMClass, getRecvPollTime, getStatusIndexBat, getStatusIndexHLP, getStatusIndexMot, getStatusIndexTask, getTimeout, init, init, lcdAlert, lcdMsg, lcdMsgClr, lcdSysMsg, lcdSysMsgClr, listPorts, listPorts, makeOHMM, makeOHMM, motFree, motGetErrors, motGetGainCmd, motGetPos, motGetPos, motGetPosCounts, motGetPosCounts, motGetVel, motGetVel, motGetVelCmd, motGetVelCmd, motKick, motReinit, motSetDiffVelIGain, motSetVelCmd, motSetVelDGain, motSetVelIGain, motSetVelPGain, motState, motState, noResponseDelay, ohmmState, ohmmState, printUsage, recvBoolean, recvByte, recvByte, recvChar, recvFix, recvFloat, recvInt, recvString, recvString, resetStats, send, send, send, send, send, send, send, send, send, send, send, send, send, send, send, send, sendCmdCode, sendCmdCode, sendFix, sendFix, sendFlush, sendZeros, senseConfigAnalog, senseConfigAnalog, senseConfigAnalogIR, senseConfigAnalogIR, senseConfigAnalogLUT, senseConfigAnalogLUT, senseConfigDigital, senseConfigDigital, senseReadAnalog, senseReadAnalog, senseReadDigital, senseReadDigital, senseReinit, senseState, senseState, setCommandDelay, setDebug, setErrorHandler, setRecvPollTime, setTimeout, shtdn, sleep, status, status, statusToString, taskState, taskState, ticks

Methods inherited from class java.lang.Object

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

Field Detail

svnid

private static final java.lang.String svnid

See Also:

Constant Field Values

VERSION

public static final Version VERSION

Version info for the OHMM hlp library.

getHLPVersion() is a convenience; OHMM.getMonitorVersion() asks the firmware for its version, which may differ.

STATUS_LEN

public static final int STATUS_LEN

num bytes for OHMM.status(int[]), see getStatusLength()

See Also:

Constant Field Values

STATUS_INDEX_DRIVE

public static final int STATUS_INDEX_DRIVE

status index for OHMM.status(int[])

See Also:

Constant Field Values

STATUS_INDEX_ARM

public static final int STATUS_INDEX_ARM

status index for OHMM.status(int[])

See Also:

Constant Field Values

DRIVE_ERR_ODOM

public static final int DRIVE_ERR_ODOM

status flag for OHMM.status(int[])

See Also:

Constant Field Values

DRIVE_ERR_TIMEOUT

public static final int DRIVE_ERR_TIMEOUT

status flag for OHMM.status(int[])

See Also:

Constant Field Values

DRIVE_CFG_LEN

public static final int DRIVE_CFG_LEN

max cfg floats for driveGetCfg(float[])

See Also:

Constant Field Values

DRIVE_CFG_INDEX_R

public static final int DRIVE_CFG_INDEX_R

float index for driveGetCfg(float[])

See Also:

Constant Field Values

DRIVE_CFG_INDEX_B

public static final int DRIVE_CFG_INDEX_B

float index for driveGetCfg(float[])

See Also:

Constant Field Values

DRIVE_CFG_INDEX_MS

public static final int DRIVE_CFG_INDEX_MS

float index for driveGetCfg(float[])

See Also:

Constant Field Values

DRIVE_CFG_INDEX_MA

public static final int DRIVE_CFG_INDEX_MA

float index for driveGetCfg(float[])

See Also:

Constant Field Values

DRIVE_CFG_INDEX_TOL

public static final int DRIVE_CFG_INDEX_TOL

float index for driveGetCfg(float[])

See Also:

Constant Field Values

Constructor Detail

OHMMDrive

public OHMMDrive(ErrorHandler eh,
                 java.io.File p)

Calls superclass constructor.

OHMMDrive

public OHMMDrive(java.io.File p)

Calls superclass constructor.

OHMMDrive

public OHMMDrive(ErrorHandler eh,
                 java.lang.String p)

Calls superclass constructor.

OHMMDrive

public OHMMDrive(java.lang.String p)

Calls superclass constructor.

OHMMDrive

public OHMMDrive(ErrorHandler eh,
                 double initWait,
                 java.lang.String[] cmd)

Calls superclass constructor.

OHMMDrive

public OHMMDrive(ErrorHandler eh,
                 java.lang.String[] cmd)

Calls superclass constructor.

OHMMDrive

public OHMMDrive(double initWait,
                 java.lang.String[] cmd)

Calls superclass constructor.

OHMMDrive

public OHMMDrive(java.lang.String[] cmd)

Calls superclass constructor.

OHMMDrive

public OHMMDrive(ErrorHandler eh)

Calls superclass constructor.

OHMMDrive

public OHMMDrive()

Calls superclass constructor.

Method Detail

getHLPVersion

public java.lang.String getHLPVersion()

get a human-readable string giving the OHMM hlp library version

This impl reports both the base OHMM class version as well as the version of OHMMDrive.

Overrides:

getHLPVersion in class OHMM

getStatusLength

public int getStatusLength()

Get number of bytes expected from llp for OHMM.status(int[]).

Subclasses may override this.

Overrides:

getStatusLength in class OHMM

getStatusIndexDrive

public int getStatusIndexDrive()

Get module OHMM.status(int[]) byte index.

Subclasses may override this.

getStatusIndexArm

public int getStatusIndexArm()

Get module OHMM.status(int[]) byte index.

Subclasses may override this.

Overrides:

getStatusIndexArm in class OHMM

statusToString

public java.lang.StringBuilder statusToString(int[] status,
                                              java.lang.StringBuilder sb)

helper for OHMM.statusToString(int[])

Overrides:

statusToString in class OHMM

makeAllState

public OHMM.AllState makeAllState()

Factory method to cons an OHMM.AllState.

May be overridden by subclasses that also need to subclass OHMM.AllState.

Overrides:

makeAllState in class OHMM

driveReinit

public void driveReinit()

Runs monitor command "dri".

driveGetVW

public float[] driveGetVW(float[] vw)

Runs monitor command "dgvw".

Parameters:

vw - velocities are returned here, or cons if null

Returns:

vw

driveGetVW

public float[] driveGetVW()

calls driveGetVW(float[]), always conses

driveGetVL

public float[] driveGetVL(float[] vl)

Runs monitor command "dgvl".

Parameters:

vl - velocities are returned here, or cons if null

Returns:

vl

driveGetVL

public float[] driveGetVL()

calls driveGetVL(float[]), always conses

driveSetVW

public boolean driveSetVW(float v,
                          float w)

Runs monitor command "dsvw".

Parameters:

v - forward velocity in mm/s

w - rotational velocity in rad/s, CCW positive

driveSetVL

public boolean driveSetVL(float v,
                          float l)

Runs monitor command "dsvl".

Parameters:

v - forward velocity in mm/s or turn velocity in rad/s for turn in place

l - turn radius in mm, CCW positive

driveGetPose

public float[] driveGetPose(float[] xyt)

Runs monitor command "dgp".

Parameters:

xyt - pose is returned here, or cons if null

Returns:

xyt

Units correspond to args to driveSetPose(float, float, float).

driveGetPose

public float[] driveGetPose()

calls driveGetPose(float[]), always conses

driveSetPose

public void driveSetPose(float x,
                         float y,
                         float t)

Runs monitor command "dsp".

Parameters:

x - pose x in mm

y - pose y in mm

t - pose theta in rad CCW positive

driveResetPose

public void driveResetPose()

Runs monitor command "drp".

driveStraight

public boolean driveStraight(float d)

Runs monitor command "df".

Parameters:

d - distance to travel in mm, positive forward

Returns:

true unless the drive queue was full

driveTurn

public boolean driveTurn(float d)

Runs monitor command "dt".

Parameters:

d - amount of turn in radians, CCW positive

Returns:

true unless the drive queue was full

driveTurnDeg

public boolean driveTurnDeg(float d)

Runs monitor command "dtd".

Parameters:

d - amount of turn in degrees, CCW positive

Returns:

true unless the drive queue was full

driveArc

public boolean driveArc(float l,
                        float d)

Runs monitor command "da".

Parameters:

l - signed arc radius in mm

d - signed drive distance in mm, or turn angle in rad for turn in place

Returns:

true unless the drive queue was full

driveArcDeg

public boolean driveArcDeg(float l,
                           float d)

Runs monitor command "dad".

Parameters:

l - signed arc radius in mm

d - signed drive distance in mm, or turn angle in degrees for turn in place

Returns:

true unless the drive queue was full

driveOrientationServo

public boolean driveOrientationServo(float t)

Runs monitor command "dos".

Parameters:

t - global goal orientation in rad or NaN to disable orientation servo

Returns:

false if t not NaN and not at orientation goal

driveGetQueue

public int driveGetQueue()

Runs monitor command "dgq".

Returns:

num queued drive segments, plus 1 if a drive is ongoing

drivePause

public void drivePause()

Runs monitor command "dp".

driveUnPause

public void driveUnPause()

Runs monitor command "dup".

driveStop

public void driveStop()

Runs monitor command "dst".

driveSetPosPGain

public void driveSetPosPGain(float g)

Runs the monitor command "dspg".

Parameters:

g - the gain

driveSetPosIGain

public void driveSetPosIGain(float g)

Runs the monitor command "dsig".

Parameters:

g - the gain

driveSetPosDGain

public void driveSetPosDGain(float g)

Runs the monitor command "dsdg".

Parameters:

g - the gain

driveGetCfg

public float[] driveGetCfg(float[] cfg)

Runs monitor command "dgcfg".

Parameters:

cfg - up to DRIVE_CFG_LEN floats of config is returned here, or null to cons

Returns:

cfg Returned floats are indexed by DRIVE_CFG_INDEX_*.

driveGetCfg

public float[] driveGetCfg()

covers driveGetCfg(float[]), always conses

driveCfgToString

public static java.lang.String driveCfgToString(float[] cfg)

Convert drive config to a human readable message.

Parameters:

cfg - up to DRIVE_CFG_LEN bytes

Returns:

a corresponding message

driveCfgToString

public static java.lang.StringBuilder driveCfgToString(float[] cfg,
                                                       java.lang.StringBuilder sb)

helper for driveCfgToString(float[])

driveSetWheelRadius

public void driveSetWheelRadius(float r)

Runs monitor command "dswr".

Parameters:

r - nonnegative wheel radius in mm

driveSetBaseline

public void driveSetBaseline(float b)

Runs monitor command "dsbl".

Parameters:

b - nonnegative baseline between wheels in mm

driveSetMaxSpeed

public boolean driveSetMaxSpeed(float s)

Runs monitor command "dsms".

Parameters:

s - positive maximum speed in mm/sec

Returns:

true unless clamping occurs

driveSetMaxAccel

public void driveSetMaxAccel(float a)

Runs monitor command "dsma".

Parameters:

a - positive max acceleration in mm/sec/sec, or Float.POSITIVE_INFINITY to skip acceleration

driveSetTol

public void driveSetTol(float t)

Runs monitor command "dstol".

Parameters:

t - tolerance in mm

driveState

public OHMMDrive.DriveState driveState(OHMMDrive.DriveState state)

Runs monitor command "drvst".

Parameters:

state - the state is returned here, or null to cons

Returns:

state

driveState

public OHMMDrive.DriveState driveState()

covers driveState(DriveState), always conses