Package trclib.subsystem

Class TrcDifferentialServoWrist

java.lang.Object
trclib.subsystem.TrcDifferentialServoWrist
All Implemented Interfaces:
TrcExclusiveSubsystem
public class TrcDifferentialServoWrist extends Object implements TrcExclusiveSubsystem
This class implements a platform independent Differential Servo Wrist Subsystem. A Differential Servo Wrist consists of two servos controlling two degrees of freedom. The wrist can tilt as well as rotate. When the two servos turn in the same direction on the mounted axis, the wrist tilts up and down. When the two servos turn in opposite directions, the wrist rotates.

  • Field Details

  • Constructor Details

    • TrcDifferentialServoWrist

      public TrcDifferentialServoWrist(String instanceName, TrcDifferentialServoWrist.Params params)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the instance name.
      params - specifies the wrist parameters.

  • Method Details

    • toString

      public String toString()
      This method returns the instance name.
      Overrides:
      toString in class Object
      Returns:
      instance name.

    • cancel

      public void cancel(String owner)
      This method cancels previous wrist operation if applicable.
      Parameters:
      owner - specifies the owner ID to check if the caller has ownership of the subsystem.

    • cancel

      public void cancel()
      This method cancels previous wrist operation if applicable.

    • setPower

      public void setPower(String owner, double delay, double tiltPower, double rotatePower)
      This method sets the wrist tilting power.
      Parameters:
      owner - specifies the owner ID to check if the caller has ownership of the subsystem.
      delay - specifies the delay in seconds before setting the power of the wrist, can be zero if no delay.
      tiltPower - specifies how fast the wrist will tilt.
      rotatePower - specifies how fast the wrist will rotate.

    • setPower

      public void setPower(double delay, double tiltPower, double rotatePower)
      This method sets the wrist tilting power.
      Parameters:
      delay - specifies the delay in seconds before setting the power of the wrist, can be zero if no delay.
      tiltPower - specifies how fast the wrist will tilt.
      rotatePower - specifies how fast the wrist will rotate.

    • setPower

      public void setPower(double tiltPower, double rotatePower)
      This method sets the wrist tilting power.
      Parameters:
      tiltPower - specifies how fast the wrist will tilt.
      rotatePower - specifies how fast the wrist will rotate.

    • getTiltPower

      public double getTiltPower()
      This method returns the last set tilt power value.
      Returns:
      last tilt power set to the wrist.

    • getRotatePower

      public double getRotatePower()
      This method returns the last set rotate power value.
      Returns:
      last rotate power set to the wrist.

    • setPosition

      public void setPosition(String owner, double delay, double tiltPos, double rotatePos, TrcEvent completionEvent, double timeout)
      This method sets the tilt position of the wrist. By default, the servo maps its physical position the same as its logical position [0.0, 1.0]. However, if setPhysicalPosRange was called, it could map a real world physical range (e.g. [0.0, 180.0] degrees) to the logical range of [0.0, 1.0]. If an event is given, it sets event after the given amount of time has expired.

      Servo operates on logical position. On a 180-degree servo, 0.0 is at 0-degree and 1.0 is at 180-degree. For a 90-degree servo, 0->0deg, 1->90deg. If servo direction is inverted, then 0.0 is at 180-degree and 1.0 is at 0-degree.

      Parameters:
      owner - specifies the owner ID to check if the caller has ownership of the subsystem.
      delay - specifies the delay in seconds before setting the tilt position of the wrist, can be zero if no delay.
      tiltPos - specifies the physical tilt position of the wrist. This value may be in degrees if setPhysicalPosRange is called with the degree range.
      rotatePos - specifies the physical rotate position of the wrist. This value may be in degrees if setPhysicalPosRange is called with the degree range.
      completionEvent - specifies an event object to signal when the timeout event has expired.
      timeout - specifies a maximum time value the operation should be completed in seconds.

    • setPosition

      public void setPosition(double delay, double tiltPos, double rotatePos, TrcEvent completionEvent, double timeout)
      This method sets the tilt position of the wrist. By default, the servo maps its physical position the same as its logical position [0.0, 1.0]. However, if setPhysicalPosRange was called, it could map a real world physical range (e.g. [0.0, 180.0] degrees) to the logical range of [0.0, 1.0]. If an event is given, it sets event after the given amount of time has expired.

      Servo operates on logical position. On a 180-degree servo, 0.0 is at 0-degree and 1.0 is at 180-degree. For a 90-degree servo, 0->0deg, 1->90deg. If servo direction is inverted, then 0.0 is at 180-degree and 1.0 is at 0-degree.

      Parameters:
      delay - specifies the delay in seconds before setting the tilt position of the wrist, can be zero if no delay.
      tiltPos - specifies the physical tilt position of the wrist. This value may be in degrees if setPhysicalPosRange is called with the degree range.
      rotatePos - specifies the physical rotate position of the wrist. This value may be in degrees if setPhysicalPosRange is called with the degree range.
      completionEvent - specifies an event object to signal when the timeout event has expired.
      timeout - specifies a maximum time value the operation should be completed in seconds.

    • setPosition

      public void setPosition(double tiltPos, double rotatePos, TrcEvent completionEvent, double timeout)
      This method sets the tilt position of the wrist. By default, the servo maps its physical position the same as its logical position [0.0, 1.0]. However, if setPhysicalPosRange was called, it could map a real world physical range (e.g. [0.0, 180.0] degrees) to the logical range of [0.0, 1.0]. If an event is given, it sets event after the given amount of time has expired.

      Servo operates on logical position. On a 180-degree servo, 0.0 is at 0-degree and 1.0 is at 180-degree. For a 90-degree servo, 0->0deg, 1->90deg. If servo direction is inverted, then 0.0 is at 180-degree and 1.0 is at 0-degree.

      Parameters:
      tiltPos - specifies the physical tilt position of the wrist. This value may be in degrees if setPhysicalPosRange is called with the degree range.
      rotatePos - specifies the physical rotate position of the wrist. This value may be in degrees if setPhysicalPosRange is called with the degree range.
      completionEvent - specifies an event object to signal when the timeout event has expired.
      timeout - specifies a maximum time value the operation should be completed in seconds.

    • setPosition

      public void setPosition(double tiltPos, double rotatePos)
      This method sets the tilt position of the wrist. By default, the servo maps its physical position the same as its logical position [0.0, 1.0]. However, if setPhysicalPosRange was called, it could map a real world physical range (e.g. [0.0, 180.0] degrees) to the logical range of [0.0, 1.0]. If an event is given, it sets event after the given amount of time has expired.

      Servo operates on logical position. On a 180-degree servo, 0.0 is at 0-degree and 1.0 is at 180-degree. For a 90-degree servo, 0->0deg, 1->90deg. If servo direction is inverted, then 0.0 is at 180-degree and 1.0 is at 0-degree.

      Parameters:
      tiltPos - specifies the physical tilt position of the wrist. This value may be in degrees if setPhysicalPosRange is called with the degree range.
      rotatePos - specifies the physical rotate position of the wrist. This value may be in degrees if setPhysicalPosRange is called with the degree range.

    • getTiltPosition

      public double getTiltPosition()
      This method returns the physical tilt position value of the wrist. Generally, servo do not provide real time position feedback. Therefore, it will only return the position set by the last setPosition call.
      Returns:
      physical tilt position of the wrist, could be in degrees if setPhysicalPosRange is called to set the range in degrees.

    • getRotatePosition

      public double getRotatePosition()
      This method returns the physical rotate position value of the wrist. Generally, servo do not provide real time position feedback. Therefore, it will only return the position set by the last setPosition call.
      Returns:
      physical rotate position of the wrist, could be in degrees if setPhysicalPosRange is called to set the range in degrees.

    • setTiltPresetPosition

      public void setTiltPresetPosition(String owner, double delay, int presetIndex, TrcEvent event, double timeout)
      This method sets the wrist to the specified tilt preset position.
      Parameters:
      owner - specifies the owner ID to check if the caller has ownership of the subsystem.
      delay - specifies delay time in seconds before setting position, can be zero if no delay.
      presetIndex - specifies the index to the preset position array.
      event - specifies the event to signal when target is reached, can be null if not provided.
      timeout - specifies a maximum time value the operation should be completed in seconds.

    • setRotatePresetPosition

      public void setRotatePresetPosition(String owner, double delay, int presetIndex, TrcEvent event, double timeout)
      This method sets the wrist to the specified rotate preset position.
      Parameters:
      owner - specifies the owner ID to check if the caller has ownership of the subsystem.
      delay - specifies delay time in seconds before setting position, can be zero if no delay.
      presetIndex - specifies the index to the preset position array.
      event - specifies the event to signal when target is reached, can be null if not provided.
      timeout - specifies a maximum time value the operation should be completed in seconds.

    • tiltPresetPositionUp

      public void tiltPresetPositionUp(String owner)
      This method sets the wrist to the next tilt preset position up from the current position.
      Parameters:
      owner - specifies the owner ID that will acquire ownership before setting the preset position and will automatically release ownership when the motor movement is completed, can be null if no ownership is required.

    • tiltPresetPositionDown

      public void tiltPresetPositionDown(String owner)
      This method sets the wrist to the next tilt preset position down from the current position.
      Parameters:
      owner - specifies the owner ID that will acquire ownership before setting the preset position and will automatically release ownership when the motor movement is completed, can be null if no ownership is required.

    • rotatePresetPositionUp

      public void rotatePresetPositionUp(String owner)
      This method sets the wrist to the next rotate preset position up from the current position.
      Parameters:
      owner - specifies the owner ID that will acquire ownership before setting the preset position and will automatically release ownership when the motor movement is completed, can be null if no ownership is required.

    • rotatePresetPositionDown

      public void rotatePresetPositionDown(String owner)
      This method sets the wrist to the next rotate preset position down from the current position.
      Parameters:
      owner - specifies the owner ID that will acquire ownership before setting the preset position and will automatically release ownership when the motor movement is completed, can be null if no ownership is required.