de.jaetzold.art.platform.fischertechnik
Class Fischertechnik
java.lang.Object
|
+--de.jaetzold.art.platform.RobotInterfaceAdapter
|
+--de.jaetzold.art.platform.fischertechnik.Fischertechnik
- All Implemented Interfaces:
- RobotInterface
- public class Fischertechnik
- extends RobotInterfaceAdapter
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
inStream
protected PacketInputStream inStream
outStream
protected OutputStream outStream
writerQueue
protected Queue writerQueue
writer
protected TaskPerformer writer
readerQueue
protected Queue readerQueue
reader
protected TaskPerformer reader
filterTable
protected de.jaetzold.art.platform.fischertechnik.Fischertechnik.PacketFilterTable filterTable
eventQueue
protected Queue eventQueue
notifierQueue
protected Queue notifierQueue
notifier
protected TaskPerformer notifier
motorState
protected int motorState
shouldMotorState
protected int shouldMotorState
motorStateMonitor
protected Object motorStateMonitor
digitalsState
protected int digitalsState
analog
protected int[] analog
undocumentedValue
protected byte undocumentedValue
motorOffMillis
protected long[] motorOffMillis
motorOnMillis
protected long[] motorOnMillis
shouldMotorOffMillis
protected long[] shouldMotorOffMillis
shouldMotorOnMillis
protected long[] shouldMotorOnMillis
motorLastMillis
protected long[] motorLastMillis
motorPulseDir
protected int[] motorPulseDir
shouldMotorPulseDir
protected int[] shouldMotorPulseDir
motorUpdatePulse
protected boolean motorUpdatePulse
longAveragePollingMillis
protected long longAveragePollingMillis
EX
public static final int EX
EY
public static final int EY
analogNumberingStart
protected int analogNumberingStart
sensorValueListeners
protected Hashtable sensorValueListeners
portsToPeers
protected Hashtable portsToPeers
getInterfaces
public static RobotInterface[] getInterfaces(RobotInterfaceDefinition[] ports)
- Scans the given Ports.
getActuatorPorts
public ActuatorPort[] getActuatorPorts()
- Returns a description of all ActuatorPorts this Interface provides. The
description consists of the portnumber and a minimal pulsewidth this
actuatorport can generate. (also: voltage, polarity, AC/DC, maximum number
of automated pulses, granularity of voltage, excludes use of other
actuators?, asf.)
- Following copied from interface:
de.jaetzold.art.RobotInterface
- See Also:
RobotInterface.getSensorPorts()
,
ActuatorPort.connectWith(Actuator)
getSensorPorts
public SensorPort[] getSensorPorts()
- Description copied from interface:
RobotInterface
- Returns a description of all SensorPorts this Interface provides.
The Ports in the returned Array can then be used to connect some Sensor-Objects with a Peer that represents some specific type of hardware connected to the hardware-interface.
- Following copied from interface:
de.jaetzold.art.RobotInterface
- See Also:
RobotInterface.getActuatorPorts()
,
SensorPort.connectWith(Sensor)
isAlive
public boolean isAlive()
- Description copied from interface:
RobotInterface
- Tells the state of the logical connection to the hardware-interface. If it is true that means the hardware-interface still behaves as expected.
- Following copied from interface:
de.jaetzold.art.RobotInterface
- See Also:
RobotInterface.isConnected()
isConnected
public boolean isConnected()
- Description copied from interface:
RobotInterface
- Tells the state of the physical connection to the hardware-interface. It may be the case that this state is not distinguishable from the one defined by
isAlive()
.- Following copied from interface:
de.jaetzold.art.RobotInterface
- See Also:
RobotInterface.isAlive()
,
SensorPeer.isConnected()
,
Sensor.isConnected()
getInterfaceDefinition
public RobotInterfaceDefinition getInterfaceDefinition()
- Description copied from interface:
RobotInterface
- Returns a RobotInterfaceDefinition describing this instance of a RobotInterface.
It describes the RobotInterface in the sense that a call to
conformsTo(RobotInterfaceDefinition)
with it as a parameter will yield true as a result. There should be no other instances of RobotInterface at a time which conform to this definition. However there may other definitions possible to which more than one RobotInterface conforms to, but they shouldn't be returned by this method. The current implementations use a RobotInterfaceStringDefinition.- Following copied from interface:
de.jaetzold.art.RobotInterface
- See Also:
RobotInterfaceStringDefinition
,
RobotInterface.conformsTo(RobotInterfaceDefinition)
,
RobotInterfaceFactory.getInterface(RobotInterfaceDefinition)
conformsTo
public boolean conformsTo(RobotInterfaceDefinition definition)
- Description copied from interface:
RobotInterface
- Tells whether the given RobotInterfaceDefinition identifies this RobotInterface.
The provided implementations for Fischertechnik and Mindstorms use Strings.
- Following copied from interface:
de.jaetzold.art.RobotInterface
- See Also:
RobotInterfaceStringDefinition
,
RobotInterface.getInterfaceDefinition()
,
RobotInterfaceFactory.getInterface(RobotInterfaceDefinition)