org.mbari.siam.foce.devices.elmo.base
Class ElmoService

java.lang.Object
  java.rmi.server.RemoteObject
      java.rmi.server.RemoteServer
          java.rmi.server.UnicastRemoteObject
              org.mbari.siam.core.DeviceService
                  org.mbari.siam.core.BaseInstrumentService
                      org.mbari.siam.core.PolledInstrumentService
                          org.mbari.siam.foce.devices.elmo.base.ElmoService

All Implemented Interfaces:

java.io.Serializable, java.rmi.Remote, ScheduleOwner, Device, ElmoIF, DeviceServiceIF, Instrument, InstrumentDataListener

Direct Known Subclasses:

ElmoLouver, ElmoThruster

public class ElmoService
extends PolledInstrumentService
implements Instrument, InstrumentDataListener, ElmoIF

See Also:

Serialized Form

Nested Class Summary

class

ElmoService.Attributes

Field Summary

ElmoService.Attributes	_attributes Service attributes
protected ElmoImpl	_elmo Elmo implementation
protected static org.apache.log4j.Logger	_log4j Log4j logger
protected int	_precision
static java.lang.String	CLOSED_LOOP
static int	DEFAULT_COUNTS_PER_REVOLUTION
protected static int	DEFAULT_PRECISION
protected java.text.DecimalFormat	df DecimalFormat for number output formatting
protected int	DFL_CURRENT_LIMIT_MILLIAMPS
protected int	DFL_MAX_SAMPLE_BYTES
protected static int	MAX_PRECISION
protected static int	MIN_PRECISION
static java.lang.String	OPEN_LOOP
static long	serialVersionUID serial version, for Serializable interface

Fields inherited from class org.mbari.siam.core.BaseInstrumentService

_defaultSamplerTask, _defaultSampleScheduleName, _errorCache, _instrumentAttributes, _lastPacket, _lastSensorDataPacket, _maxSampleBytes, _messagePacket, _nPowerRequests, _nWakeRequests, _packetLog, _recordType, _running, _samplerWakeupTime, _scheduleKey, _schedules, _sensorDataPacket, _turbinator, MAX_BASE_RECORDTYPE, RECORDTYPE_DEFAULT, RECORDTYPE_METADATA, RECORDTYPE_UNDEFINED

Fields inherited from class org.mbari.siam.core.DeviceService

_fromDevice, _instrumentPort, _nodeProperties, _parentNode, _regEntry, _sandBox, _serviceCachePath, _serviceName, _servicePropertiesPath, _serviceXMLPath, _toDevice, CACHED_PROPERTIES_FILENAME, PROPERTIES_FILENAME, XML_FILENAME

Fields inherited from class java.rmi.server.RemoteObject

ref

Fields inherited from interface org.mbari.siam.distributed.Device

ERROR, INITIAL, INSTRUMENT_STATE, MDATA_ALL, OK, SAFE, SAMPLING, SERVICE_ATTRIBUTES, SERVICE_CACHE, SERVICE_PROPERTIES, SERVICE_XML, SHUTDOWN, SLEEPING, SUSPEND, UNKNOWN

Constructor Summary

ElmoService()

Method Summary

void	beginMotion() start motion using current settings n
double	counts2orpm(int counts) Convert output shaft speed (counts/sec) to (rpm) (at output after gear train) (using gear ratio and counts per revolution)
double	counts2rpm(int counts) Convert motor speed (counts/sec) to (rpm) (before gear train) (using countsPerRevolution)
protected ScheduleSpecifier	createDefaultSampleSchedule() required by PolledInstrumentService
void	dataCallback(DevicePacket sensorData, PacketParser.Field[] fields) dataCallback from the sensors.
void	delay(long delayMsec) delay for specified number of milliseconds
int	getCountsPerRevolution() Get commutation counts per motor revolution.
int	getEncoderVelocity() get motor feedback velocity in counts/sec.
int	getEncoderVelocity(int nSamples) get (average of nSamples) motor feedback velocity in counts/sec.
int	getFaultRegister() return detailed motor fault information.
double	getGearRatio() Get the gear ratio between the motor and the output shaft.
protected byte[]	getInstrumentStateMetadata() Get device-specific metadata (e.g.
int	getJoggingVelocity() get motor jogging (commanded) velocity in counts/sec.
long	getPositionCounter() Get motor position counter for position modes
long	getPositionError() Get difference (counts) between commanded and actual position if available
SerialPortParameters	getSerialPortParameters() required by DeviceService
int	getStatusRegister() return motor status.
protected PowerPolicy	initCommunicationPowerPolicy() Return initial value of communication power policy.
protected int	initCurrentLimit() required by BaseInstrumentService
void	initializeController() Initialize motor controller
void	initializeController(int serialMode, int countsPerRevolution, double gearRatio, int mode, int acceleration, int deceleration, int stopDeceleration)
protected void	initializeInstrument() Override default initializeInstrument.
protected PowerPolicy	initInstrumentPowerPolicy() Return initial value of instrument power policy.
protected int	initInstrumentStartDelay() required by BaseInstrumentService
protected int	initMaxSampleBytes() required by BaseInstrumentService
protected byte[]	initPromptString() required by BaseInstrumentService
protected byte[]	initSampleTerminator() required by BaseInstrumentService
boolean	isEnabled() return motor enabled (MO) status.
void	jog(int counts) command motor velocity in counts/sec
int	orpm2counts(double rpm) Convert output shaft speed (rpm) to (counts/sec) (at output after gear train) (using gear ratio and counts per revolution)
void	ptpAbsolute(long position, boolean wait) Move motor to absolute position Motion may be subject to modulo position counting modes in effect.
void	ptpRelative(long distanceCounts, boolean wait) Move motor relative to current position
java.lang.String	readRegister(java.lang.String register) read an Elmo register value
protected int	readSample(byte[] sample) Override base class readSample (defined in BaseInstrumentService)
protected void	requestSample() required by BaseInstrumentService
int	rpm2counts(double rpm) Convert motor speed (rpm) to (counts/sec) (before gear train) (using countsPerRevolution)
void	serviceRegisteredCallback(RegistryEntry entry) Callback for InstrumentDataListener interface, called when service is registered with the InstrumentRegistry Fulfills InstrumentDataListener interface
void	setCountsPerRevolution(int value) Set commutation counts per motor revolution.
void	setEnable(boolean value, long timeoutMsec) start motion using current settings n
void	setGearRatio(double value) Set the gear ratio between the motor and the output shaft.
void	setJoggingVelocity(int counts) set motor velocity in counts Do not initiate motion
void	setPositionCounter(long positionCounts) Set motor position counter for position modes
void	setPTPSpeed(int counts) set motor PTP velocity (used for Absolute motion) in rpm Do not initiate motion
void	setSerialMode(int mode) Set serial port mode (MODE_SERIAL_LOCAL, MODE_SERIAL_RFC2217)
java.lang.String	showConfiguration() show current configuration information
protected java.lang.String	shutdownInstrument() Perform any instrument-specific shutdown actions and optionally return a human-readable message (e.g.
int	test() Self-test not implemented.
void	validateSpeed(int counts) Validate velocity value.

Methods inherited from class org.mbari.siam.core.PolledInstrumentService

acquire, doScheduledTask, setAttributes

Methods inherited from class org.mbari.siam.core.BaseInstrumentService

acquireSample, addDefaultPacketFilters, addSchedule, addSchedule, annotate, assertSamplingState, cacheProperties, callDataListeners, canSummarize, checkInputProperties, cleanupServiceState, clearDefaultPacketFilters, clearPropertiesCache, createPacketLog, createTask, createTurbinators, disableSummary, enableSummary, endDeviceAccess, getAllSchedules, getChildren, getCommunicationPowerPolicy, getCurrentLimit, getDefaultPacketFilters, getDefaultSampleSchedule, getDefaultSampleScheduleName, getDevicePacketParser, getFileBytes, getInstrumentPowerPolicy, getInstrumentServiceBlock, getInstrumentStartDelay, getLastSample, getMaxSampleBytes, getMaxSampleTries, getMetadata, getMetadata, getMetadataPayload, getPackets, getPackets, getParent, getParser, getPortDiagnostics, getPortDiagnosticsSummary, getPromptString, getProperties, getProperty, getSampleBuf, getSampleSchedule, getSampleTerminator, getSampleTimeout, getSchedule, getScheduleKey, getSchedules, getServicePropertiesBytes, initialize, initializeDriverDefaults, initializePooledResources, interruptDeviceAccess, logPacket, managePowerSleep, managePowerWake, nPowerRequests, postSample, powerOff, powerOffCallback, powerOn, powerOnCallback, prepareToRun, prepareToSample, printData, processSample, removeAllSchedules, removeSchedule, resetPortDiagnostics, resume, resumeSchedule, running, setClock, setClock, setCommunicationPowerPolicy, setCurrentLimit, setDefaultSampleScheduleName, setInstrumentPowerPolicy, setInstrumentServiceBlock, setInstrumentStartDelay, setMaxSampleBytes, setMaxSampleTries, setPromptString, setProperty, setRecordType, setSampleTerminator, setSampleTimeout, shutdown, sleepingUntil, snooze, startDeviceAccess, summaryEnabled, suspend, suspendSchedule, sync, syncSchedule, validateSample

Methods inherited from class org.mbari.siam.core.DeviceService

addDataListener, advertiseService, createRegistryEntry, getAttributes, getCommPortName, getFrameworkVersion, getId, getInstrumentPort, getLocation, getName, getRemoteSerialPort, getRemoteSerialPort, getSamplingCount, getSamplingErrorCount, getSamplingRetryCount, getStatus, host, incRetryCount, initializePropertyDefaults, registryEntry, registryName, removeDataListener, setInstrumentPort, setNodeProperties, setParent, setSerialPort, setStatusError, setStatusInitial, setStatusOk, setStatusSafe, setStatusSampling, setStatusShutdown, setStatusSuspend

Methods inherited from class java.rmi.server.UnicastRemoteObject

clone, exportObject, exportObject, exportObject, unexportObject

Methods inherited from class java.rmi.server.RemoteServer

getClientHost, getLog, setLog

Methods inherited from class java.rmi.server.RemoteObject

equals, getRef, hashCode, toString, toStub

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.mbari.siam.distributed.Instrument

acquireSample, addDefaultPacketFilters, annotate, cacheProperties, clearDefaultPacketFilters, clearPropertiesCache, disableSummary, enableSummary, getDefaultPacketFilters, getLastSample, getPackets, getPackets, getParser, getPortDiagnostics, getPortDiagnosticsSummary, getProperties, getProperty, getSampleSchedule, getSchedules, resetPortDiagnostics, setClock, setClock, setProperty, summaryEnabled

Methods inherited from interface org.mbari.siam.distributed.Device

getChildren, getCommPortName, getFrameworkVersion, getId, getLocation, getMetadata, getName, getParent, getSamplingCount, getSamplingErrorCount, getSamplingRetryCount, getStatus, host, powerOff, powerOn, prepareToRun, resume, shutdown, suspend

Methods inherited from interface org.mbari.siam.distributed.DeviceServiceIF

getName

Methods inherited from interface org.mbari.siam.core.ScheduleOwner

addSchedule, getAllSchedules, getScheduleKey, removeAllSchedules, removeSchedule, resumeSchedule, sleepingUntil, suspendSchedule, syncSchedule

Field Detail

_log4j

protected static org.apache.log4j.Logger _log4j

Log4j logger

_attributes

public ElmoService.Attributes _attributes

Service attributes

serialVersionUID

public static final long serialVersionUID

serial version, for Serializable interface

See Also:

Constant Field Values

DFL_MAX_SAMPLE_BYTES

protected int DFL_MAX_SAMPLE_BYTES

DFL_CURRENT_LIMIT_MILLIAMPS

protected int DFL_CURRENT_LIMIT_MILLIAMPS

OPEN_LOOP

public static final java.lang.String OPEN_LOOP

See Also:

Constant Field Values

CLOSED_LOOP

public static final java.lang.String CLOSED_LOOP

See Also:

Constant Field Values

DEFAULT_COUNTS_PER_REVOLUTION

public static final int DEFAULT_COUNTS_PER_REVOLUTION

See Also:

Constant Field Values

_elmo

protected ElmoImpl _elmo

Elmo implementation

DEFAULT_PRECISION

protected static int DEFAULT_PRECISION

MIN_PRECISION

protected static int MIN_PRECISION

MAX_PRECISION

protected static int MAX_PRECISION

_precision

protected int _precision

df

protected java.text.DecimalFormat df

DecimalFormat for number output formatting

Constructor Detail

ElmoService

public ElmoService()
            throws java.rmi.RemoteException

Throws:

java.rmi.RemoteException

Method Detail

createDefaultSampleSchedule

protected ScheduleSpecifier createDefaultSampleSchedule()
                                                 throws ScheduleParseException

required by PolledInstrumentService

Specified by:

createDefaultSampleSchedule in class PolledInstrumentService

Throws:

ScheduleParseException

initMaxSampleBytes

protected int initMaxSampleBytes()

required by BaseInstrumentService

Specified by:

initMaxSampleBytes in class BaseInstrumentService

initPromptString

protected byte[] initPromptString()

required by BaseInstrumentService

Specified by:

initPromptString in class BaseInstrumentService

initSampleTerminator

protected byte[] initSampleTerminator()

required by BaseInstrumentService

Specified by:

initSampleTerminator in class BaseInstrumentService

initCurrentLimit

protected int initCurrentLimit()

required by BaseInstrumentService

Specified by:

initCurrentLimit in class BaseInstrumentService

initInstrumentPowerPolicy

protected PowerPolicy initInstrumentPowerPolicy()

Return initial value of instrument power policy.

Specified by:

initInstrumentPowerPolicy in class BaseInstrumentService

initCommunicationPowerPolicy

protected PowerPolicy initCommunicationPowerPolicy()

Return initial value of communication power policy.

Specified by:

initCommunicationPowerPolicy in class BaseInstrumentService

initInstrumentStartDelay

protected int initInstrumentStartDelay()

required by BaseInstrumentService

Specified by:

initInstrumentStartDelay in class BaseInstrumentService

getSerialPortParameters

public SerialPortParameters getSerialPortParameters()
                                             throws gnu.io.UnsupportedCommOperationException

required by DeviceService

Overrides:

getSerialPortParameters in class DeviceService

Throws:

gnu.io.UnsupportedCommOperationException

test

public int test()

Self-test not implemented.

Specified by:

test in interface Device

initializeInstrument

protected void initializeInstrument()
                             throws InitializeException,
                                    java.lang.Exception

Override default initializeInstrument.

Overrides:

initializeInstrument in class BaseInstrumentService

Throws:

InitializeException

java.lang.Exception

requestSample

protected void requestSample()
                      throws TimeoutException,
                             java.lang.Exception

required by BaseInstrumentService

Specified by:

requestSample in class PolledInstrumentService

Throws:

TimeoutException

java.lang.Exception

shutdownInstrument

protected java.lang.String shutdownInstrument()
                                       throws java.lang.Exception

Perform any instrument-specific shutdown actions and optionally return a human-readable message (e.g. noting caveats, status, etc); the returned message is purely for human operator. (override BaseInstrumentService)

Overrides:

shutdownInstrument in class BaseInstrumentService

Throws:

java.lang.Exception

getInstrumentStateMetadata

protected byte[] getInstrumentStateMetadata()

Get device-specific metadata (e.g. configuration, operating mode).

Overrides:

getInstrumentStateMetadata in class BaseInstrumentService

dataCallback

public void dataCallback(DevicePacket sensorData,
                         PacketParser.Field[] fields)

dataCallback from the sensors. Fulfills InstrumentDataListener interface

Specified by:

dataCallback in interface InstrumentDataListener

Parameters:

sensorData - - SensorDataPacket that instrument logged

fields - - Result of passing sensorData to PacketParser.parseFields() if registered DeviceService is an instanceof BaseInstrumentService. Else null.

serviceRegisteredCallback

public void serviceRegisteredCallback(RegistryEntry entry)

Callback for InstrumentDataListener interface, called when service is registered with the InstrumentRegistry Fulfills InstrumentDataListener interface

Specified by:

serviceRegisteredCallback in interface InstrumentDataListener

validateSpeed

public void validateSpeed(int counts)
                   throws java.lang.IllegalArgumentException

Validate velocity value. By default, does nothing and relies on the configured ElmoImpl limits. Subclasses may override this method to provide special range validatation logic. For example, a service may wish to impose constraints like a range that includes 0 rpm and 50-100 rpm, but no speeds between 0-50.

Throws:

java.lang.IllegalArgumentException

initializeController

public void initializeController()
                          throws TimeoutException,
                                 java.io.IOException,
                                 java.lang.Exception

Initialize motor controller

Specified by:

initializeController in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

initializeController

public void initializeController(int serialMode,
                                 int countsPerRevolution,
                                 double gearRatio,
                                 int mode,
                                 int acceleration,
                                 int deceleration,
                                 int stopDeceleration)
                          throws TimeoutException,
                                 java.io.IOException,
                                 java.lang.Exception

Specified by:

initializeController in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

rpm2counts

public int rpm2counts(double rpm)
               throws java.lang.Exception

Convert motor speed (rpm) to (counts/sec) (before gear train) (using countsPerRevolution)

Specified by:

rpm2counts in interface ElmoIF

Throws:

java.lang.Exception

counts2rpm

public double counts2rpm(int counts)
                  throws java.lang.Exception

Convert motor speed (counts/sec) to (rpm) (before gear train) (using countsPerRevolution)

Specified by:

counts2rpm in interface ElmoIF

Throws:

java.lang.Exception

orpm2counts

public int orpm2counts(double rpm)
                throws java.lang.Exception

Convert output shaft speed (rpm) to (counts/sec) (at output after gear train) (using gear ratio and counts per revolution)

Specified by:

orpm2counts in interface ElmoIF

Throws:

java.lang.Exception

counts2orpm

public double counts2orpm(int counts)
                   throws java.lang.Exception

Convert output shaft speed (counts/sec) to (rpm) (at output after gear train) (using gear ratio and counts per revolution)

Specified by:

counts2orpm in interface ElmoIF

Throws:

java.lang.Exception

setSerialMode

public void setSerialMode(int mode)
                   throws java.lang.IllegalArgumentException

Description copied from interface: ElmoIF

Set serial port mode (MODE_SERIAL_LOCAL, MODE_SERIAL_RFC2217)

Specified by:

setSerialMode in interface ElmoIF

Throws:

java.lang.IllegalArgumentException

setCountsPerRevolution

public void setCountsPerRevolution(int value)
                            throws java.lang.IllegalArgumentException

Description copied from interface: ElmoIF

Set commutation counts per motor revolution. Depends on motor type (number of poles, etc.)

Specified by:

setCountsPerRevolution in interface ElmoIF

Throws:

java.lang.IllegalArgumentException

getCountsPerRevolution

public int getCountsPerRevolution()

Description copied from interface: ElmoIF

Get commutation counts per motor revolution. Depends on motor type (number of poles, etc.)

Specified by:

getCountsPerRevolution in interface ElmoIF

setEnable

public void setEnable(boolean value,
                      long timeoutMsec)
               throws TimeoutException,
                      java.io.IOException,
                      java.lang.NullPointerException,
                      java.lang.IllegalArgumentException,
                      java.lang.Exception

start motion using current settings n

Specified by:

setEnable in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setGearRatio

public void setGearRatio(double value)
                  throws java.lang.IllegalArgumentException

Set the gear ratio between the motor and the output shaft. For example, if the output shaft turns 67.5 times slower than the motor, the gear ratio should be set to 67.5.

Specified by:

setGearRatio in interface ElmoIF

Throws:

java.lang.IllegalArgumentException

getGearRatio

public double getGearRatio()

Get the gear ratio between the motor and the output shaft. For example, if the output shaft turns 67.5 times slower than the motor, the gear ratio should be set to 67.5.

Specified by:

getGearRatio in interface ElmoIF

setPositionCounter

public void setPositionCounter(long positionCounts)
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.IllegalArgumentException,
                               java.lang.Exception

Set motor position counter for position modes

Specified by:

setPositionCounter in interface ElmoIF

Parameters:

positionCounts - new value of position counter (counts) fulfills ElmoIF interface

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getPositionCounter

public long getPositionCounter()
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.Exception

Get motor position counter for position modes

Specified by:

getPositionCounter in interface ElmoIF

Returns:

position counter (counts)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getJoggingVelocity

public int getJoggingVelocity()
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.IllegalArgumentException,
                              java.lang.Exception

get motor jogging (commanded) velocity in counts/sec.

Specified by:

getJoggingVelocity in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getEncoderVelocity

public int getEncoderVelocity()
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.IllegalArgumentException,
                              java.lang.Exception

get motor feedback velocity in counts/sec.

Specified by:

getEncoderVelocity in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getEncoderVelocity

public int getEncoderVelocity(int nSamples)
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.IllegalArgumentException,
                              java.lang.Exception

get (average of nSamples) motor feedback velocity in counts/sec.

Specified by:

getEncoderVelocity in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

isEnabled

public boolean isEnabled()
                  throws TimeoutException,
                         java.io.IOException,
                         java.lang.NullPointerException,
                         java.lang.IllegalArgumentException,
                         java.lang.Exception

return motor enabled (MO) status.

Specified by:

isEnabled in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getStatusRegister

public int getStatusRegister()
                      throws TimeoutException,
                             java.io.IOException,
                             java.lang.NullPointerException,
                             java.lang.IllegalArgumentException,
                             java.lang.Exception

return motor status.

Specified by:

getStatusRegister in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getFaultRegister

public int getFaultRegister()
                     throws TimeoutException,
                            java.io.IOException,
                            java.lang.NullPointerException,
                            java.lang.IllegalArgumentException,
                            java.lang.Exception

return detailed motor fault information.

Specified by:

getFaultRegister in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getPositionError

public long getPositionError()
                      throws TimeoutException,
                             java.io.IOException,
                             java.lang.Exception

Get difference (counts) between commanded and actual position if available

Specified by:

getPositionError in interface ElmoIF

Returns:

position error (counts)

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

setJoggingVelocity

public void setJoggingVelocity(int counts)
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.IllegalArgumentException,
                               java.lang.Exception

set motor velocity in counts Do not initiate motion

Specified by:

setJoggingVelocity in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setPTPSpeed

public void setPTPSpeed(int counts)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

set motor PTP velocity (used for Absolute motion) in rpm Do not initiate motion

Specified by:

setPTPSpeed in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

showConfiguration

public java.lang.String showConfiguration()
                                   throws TimeoutException,
                                          java.io.IOException,
                                          java.lang.NullPointerException,
                                          java.lang.IllegalArgumentException,
                                          java.lang.Exception

show current configuration information

Specified by:

showConfiguration in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

readRegister

public java.lang.String readRegister(java.lang.String register)
                              throws TimeoutException,
                                     java.io.IOException,
                                     java.lang.NullPointerException,
                                     java.lang.IllegalArgumentException,
                                     java.lang.Exception

read an Elmo register value

Specified by:

readRegister in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

beginMotion

public void beginMotion()
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

start motion using current settings n

Specified by:

beginMotion in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

jog

public void jog(int counts)
         throws TimeoutException,
                java.io.IOException,
                java.lang.NullPointerException,
                java.lang.IllegalArgumentException,
                java.lang.Exception

command motor velocity in counts/sec

Specified by:

jog in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

ptpRelative

public void ptpRelative(long distanceCounts,
                        boolean wait)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

Move motor relative to current position

Specified by:

ptpRelative in interface ElmoIF

Parameters:

distanceCounts - distance to move (counts)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

ptpAbsolute

public void ptpAbsolute(long position,
                        boolean wait)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

Move motor to absolute position Motion may be subject to modulo position counting modes in effect.

Specified by:

ptpAbsolute in interface ElmoIF

Parameters:

position - to move to (counts)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

delay

public void delay(long delayMsec)

delay for specified number of milliseconds

Specified by:

delay in interface ElmoIF

Parameters:

delayMsec - delay duration in milliseconds

readSample

protected int readSample(byte[] sample)
                  throws TimeoutException,
                         java.io.IOException,
                         java.lang.Exception

Override base class readSample (defined in BaseInstrumentService)

Overrides:

readSample in class BaseInstrumentService

Parameters:

sample - output buffer

Throws:

TimeoutException

java.io.IOException

java.lang.Exception