org.mbari.siam.foce.utils
Class FOCEMotorUtil

java.lang.Object
  org.mbari.siam.foce.utils.FOCEMotorUtil

public class FOCEMotorUtil
extends java.lang.Object

Field Summary

protected java.lang.Boolean	_aftMotorEnable aft motor enable
protected java.lang.String	_aftMotorPort forward motor serial port path
protected java.lang.Double	_aftMotorRPM aft motor speed (RPM)
protected int	_countsPerRevolution Number of counts per motor revolution
protected java.lang.Boolean	_forwardMotorEnable forward motor enable
protected java.lang.String	_forwardMotorPort forward motor serial port path
protected java.lang.Double	_forwardMotorRPM forward motor speed (RPM)
protected static org.apache.log4j.Logger	_log4j
protected int	ACCELERATION Motor acceleration value (counts/second^2)
protected static java.lang.String	AFT_MOTOR_PORT Default aft controller serial port
protected int	DECELERATION Motor deceleration value (counts/second^2)
protected static java.lang.String	FORWARD_MOTOR_PORT Default forward controller serial port
double	GEAR_RATIO Gear ratio between motor and thrusters.
protected boolean	setUnitMode set UnitMode during controller initialization (stops motor)
protected boolean	useShaftSpeed interpret specified speed as shaft speed
protected boolean	VERBOSE Verbose output flag

Constructor Summary

FOCEMotorUtil()
Contstructor

Method Summary

void	configurePorts(java.lang.String forwardPort, java.lang.String aftPort) Configure the serial ports used to communicate with the motor controllers.
protected void	initializeController(ElmoSolo controller) Initialize the specified motor controller.
static void	main(java.lang.String[] args) Main entry point.
void	printUsage() Print application-specific usage message to stdout.
void	processArguments(java.lang.String[] args) Process command line options.
int	run() Perform the actions indicated on the command line.
void	setEnable(ElmoSolo motor, boolean value, long timeoutMsec) Enable or disable the motor.
void	setVelocity(ElmoSolo motor, double rpm) Command motor velocity (in rpm) fulfills MotorControlIF interface

Methods inherited from class java.lang.Object

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

Field Detail

_log4j

protected static org.apache.log4j.Logger _log4j

GEAR_RATIO

public double GEAR_RATIO

Gear ratio between motor and thrusters.

FORWARD_MOTOR_PORT

protected static final java.lang.String FORWARD_MOTOR_PORT

Default forward controller serial port

See Also:

Constant Field Values

AFT_MOTOR_PORT

protected static final java.lang.String AFT_MOTOR_PORT

Default aft controller serial port

See Also:

Constant Field Values

VERBOSE

protected boolean VERBOSE

Verbose output flag

ACCELERATION

protected int ACCELERATION

Motor acceleration value (counts/second^2)

DECELERATION

protected int DECELERATION

Motor deceleration value (counts/second^2)

_countsPerRevolution

protected int _countsPerRevolution

Number of counts per motor revolution

_forwardMotorRPM

protected java.lang.Double _forwardMotorRPM

forward motor speed (RPM)

_forwardMotorEnable

protected java.lang.Boolean _forwardMotorEnable

forward motor enable

_aftMotorRPM

protected java.lang.Double _aftMotorRPM

aft motor speed (RPM)

_aftMotorEnable

protected java.lang.Boolean _aftMotorEnable

aft motor enable

_forwardMotorPort

protected java.lang.String _forwardMotorPort

forward motor serial port path

_aftMotorPort

protected java.lang.String _aftMotorPort

forward motor serial port path

useShaftSpeed

protected boolean useShaftSpeed

interpret specified speed as shaft speed

setUnitMode

protected boolean setUnitMode

set UnitMode during controller initialization (stops motor)

Constructor Detail

FOCEMotorUtil

public FOCEMotorUtil()

Contstructor

Method Detail

printUsage

public void printUsage()

Print application-specific usage message to stdout.

processArguments

public void processArguments(java.lang.String[] args)

Process command line options.

Parameters:

args - command line arguments

configurePorts

public void configurePorts(java.lang.String forwardPort,
                           java.lang.String aftPort)

Configure the serial ports used to communicate with the motor controllers.

initializeController

protected void initializeController(ElmoSolo controller)

Initialize the specified motor controller.

Parameters:

controller - ElmoSolo motor controller to initialize

setEnable

public void setEnable(ElmoSolo motor,
                      boolean value,
                      long timeoutMsec)
               throws TimeoutException

Enable or disable the motor. fulfills MotorControlIF interface

Parameters:

motor - motor controller to enable

value - enable if trye, disable if false

timeoutMsec - timeout (milliseconds)

Throws:

TimeoutException

setVelocity

public void setVelocity(ElmoSolo motor,
                        double rpm)

Command motor velocity (in rpm) fulfills MotorControlIF interface

Parameters:

motor - motor controller to enable

rpm - motor speed to set (RPM)

run

public int run()

Perform the actions indicated on the command line.

Returns:

0 on success

main

public static void main(java.lang.String[] args)

Main entry point.

Parameters:

args - command line arguments