Device Class Reference

Public Member Functions
	Device (byte deviceID, Board deviceLink)
void	add_actuator (int actuator, int rotation, int port)
void	add_encoder (int encoder, int rotation, float offset, float resolution, int port)
void	add_analog_sensor (String pin)
void	add_pwm_pin (int pin)
void	set_mechanism (Mechanisms mechanism)
void	device_set_parameters ()
void	device_read_data ()
void	device_read_request ()
void	device_write_torques ()
void	set_pwm_pulse (int pin, float pulse)
float	get_pwm_pulse (int pin)
float[]	get_device_angles ()
float[]	get_sensor_data ()
float[]	get_device_position (float[] angles)
float[]	set_device_torques (float[] forces)

Constructor & Destructor Documentation

Device()

Device.Device	(	byte	deviceID,
		Board	deviceLink
	)

Constructs a Device with the defined deviceID, connected on the specified Board

Parameters

deviceID	ID
deviceLink	serial link used by device

Member Function Documentation

add_actuator()

void Device.add_actuator	(	int	actuator,
		int	rotation,
		int	port
	)

add new actuator to platform

Parameters

actuator	index of actuator (and index of 1-4)
roatation	positive direction of actuator rotation
port	specified motor port to be used (motor ports 1-4 on the Haply board)

add_analog_sensor()

void Device.add_analog_sensor

(

String

pin

)

Add an analog sensor to platform

Parameters

pin	the analog pin on haply board to be used for sensor input (Ex: A0)

add_encoder()

void Device.add_encoder	(	int	encoder,
		int	rotation,
		float	offset,
		float	resolution,
		int	port
	)

Add a new encoder to the platform

Parameters

actuator	index of actuator (an index of 1-4)
positive	direction of rotation detection
offset	encoder offset in degrees
resolution	encoder resolution
port	specified motor port to be used (motor ports 1-4 on the Haply board)

add_pwm_pin()

void Device.add_pwm_pin

(

int

pin

)

Add a PWM output pin to the platform

Parameters

pin	the pin on the haply board to use as the PWM output pin

device_read_data()

void Device.device_read_data

(

)

Receives angle position and sensor inforamation from the serial port interface and updates each indexed encoder sensor to their respective received angle and any analog sensor that may be setup

device_read_request()

void Device.device_read_request

(

)

Requests data from the hardware based on the initialized setup. function also sends a torque output command of zero torque for each actuator in use

device_set_parameters()

void Device.device_set_parameters

(

)

Gathers all encoder, sensor, pwm setup inforamation of all encoders, sensors, and pwm pins that are initialized and sequentialy formats the data based on specified sensor index positions to send over serial port interface for hardware device initialization

device_write_torques()

void Device.device_write_torques

(

)

Transmits specific torques that has been calculated and stored for each actuator over the serial port interface, also transmits specified pwm outputs on pwm pins

get_device_angles()

float [] Device.get_device_angles

(

)

Gathers current state of angles information from encoder objects

Returns

most recent angles information from encoder objects

get_device_position()

float [] Device.get_device_position

(

float[]

angles

)

Performs physics calculations based on the given angle values

Parameters

angles

angles to be used for physics position calculation

Returns

end-effector coordinate position

get_pwm_pulse()

float Device.get_pwm_pulse

(

int

pin

)

Gets percent PWM pulse value of specified pin

get_sensor_data()

float [] Device.get_sensor_data

(

)

Gathers current data from sensor objects

Returns

most recent analog sensor information from sensor objects

set_device_torques()

float [] Device.set_device_torques

(

float[]

forces

)

Calculates the needed output torques based on forces input and updates each initialized actuator respectively

Parameters

forces

forces that need to be generated

Returns

torques that need to be outputted to the physical device

set_mechanism()

void Device.set_mechanism

(

Mechanisms

mechanism

)

Set the device mechanism that is to be used

Parameters

mechanisms

new Mechanisms for use

set_pwm_pulse()

void Device.set_pwm_pulse	(	int	pin,
		float	pulse
	)

Set pulse of specified PWM pin

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The documentation for this class was generated from the following file:

• src/Device.java