Package trclib.subsystem

Class TrcPidConveyor

java.lang.Object

trclib.subsystem.TrcPidConveyor

All Implemented Interfaces:

TrcExclusiveSubsystem

public class TrcPidConveyor
extends Object
implements TrcExclusiveSubsystem

This class implements a platform independent conveyor subsystem. It contains a motor and optionally an entry and an exit sensor that detects if the an object has entered or exited the conveyor. It also supports exclusive subsystem access by implementing TrcExclusiveSubsystem. This enables the conveyor subsystem to be aware of multiple callers' access to the subsystem. While one caller starts the conveyor for an operation, nobody can access it until the previous caller is done with the operation.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TrcPidConveyor.Parameters	This class contains all the parameters related to the conveyor.

Nested classes/interfaces inherited from interface trclib.robotcore.TrcExclusiveSubsystem

TrcExclusiveSubsystem.OwnershipParams

Field Summary

Fields

Modifier and Type	Field	Description
private TrcEvent	entryEvent
private final TrcDigitalInput	entrySensor
private final TrcTriggerDigitalInput	entryTrigger
private TrcEvent	exitEvent
private final TrcDigitalInput	exitSensor
private final TrcTriggerDigitalInput	exitTrigger
final TrcMotor	motor
private int	numObjects
private final TrcPidConveyor.Parameters	params

Constructor Summary

Constructors

Constructor	Description
TrcPidConveyor(String instanceName, TrcMotor motor, TrcDigitalInput entrySensor, TrcDigitalInput exitSensor, TrcPidConveyor.Parameters params)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	advance()	This method advances the conveyor by the one object unit.
void	backup()	This method backs up the conveyor by the one object unit.
int	getNumObjects()	This method returns the number of objects in the conveyor.
boolean	isEntrySensorActive()	This method returns the sensor state read from the digital sensor.
boolean	isExitSensorActive()	This method returns the sensor state read from the digital sensor.
void	move(int units)	This method advances or backs up the conveyor by the number of object units.
void	move(int units, TrcEvent event)	This method advances or backs up the conveyor by the number of object units.
void	move(String owner, int units, TrcEvent event)	This method advances or backs up the conveyor by the number of object units.
private void	onEntryEvent(Object context)	This method is called when the entry sensor is triggered.
private void	onExitEvent(Object context)	This method is called when the exit sensor is triggered.
void	registerEntryEvent(TrcEvent event)	This method registers an event to be signaled when the entry sensor is triggered.
void	registerExitEvent(TrcEvent event)	This method registers an event to be signaled when the exit sensor is triggered.
void	setPower(String owner, double power)	This methods sets the conveyor motor power.
void	setPreloadedObjects(int num)	This method sets the number of preloaded objects in the conveyor.

Methods inherited from class java.lang.Object

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

Methods inherited from interface trclib.robotcore.TrcExclusiveSubsystem

acquireExclusiveAccess, acquireOwnership, cancelExclusiveAccess, getCurrentOwner, hasOwnership, releaseExclusiveAccess, releaseOwnership, validateOwnership

Field Details

motor

public final TrcMotor motor

entrySensor

private final TrcDigitalInput entrySensor

exitSensor

private final TrcDigitalInput exitSensor

params

private final TrcPidConveyor.Parameters params

entryTrigger

private final TrcTriggerDigitalInput entryTrigger

exitTrigger

private final TrcTriggerDigitalInput exitTrigger

entryEvent

private TrcEvent entryEvent

exitEvent

private TrcEvent exitEvent

numObjects

private int numObjects

Constructor Details

TrcPidConveyor

public TrcPidConveyor(String instanceName,
 TrcMotor motor,
 TrcDigitalInput entrySensor,
 TrcDigitalInput exitSensor,
 TrcPidConveyor.Parameters params)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the hardware name.

motor - specifies the motor object.

entrySensor - specifies the sensor object for the conveyor entry.

exitSensor - specifies the sensor object for the conveyor exit.

params - specifies the parameters object.

Method Details

getNumObjects

public int getNumObjects()

This method returns the number of objects in the conveyor. Note: Conveyor can only keep track of the number of objects if it has entry and exit sensors. Otherwise, the number of objects returned will not be correct.

Returns:

number of objects in the conveyor.

setPreloadedObjects

public void setPreloadedObjects(int num)

This method sets the number of preloaded objects in the conveyor.

Parameters:

num - specifies the number of preloaded objects in the conveyor.

registerEntryEvent

public void registerEntryEvent(TrcEvent event)

This method registers an event to be signaled when the entry sensor is triggered.

Parameters:

event - specifies event to signal when an object has entered the conveyor.

registerExitEvent

public void registerExitEvent(TrcEvent event)

This method registers an event to be signaled when the exit sensor is triggered.

Parameters:

event - specifies event to signal when an object has exited the conveyor.

isEntrySensorActive

public boolean isEntrySensorActive()

This method returns the sensor state read from the digital sensor.

Returns:

digital sensor state.

isExitSensorActive

public boolean isExitSensorActive()

This method returns the sensor state read from the digital sensor.

Returns:

digital sensor state.

setPower

public void setPower(String owner,
 double power)

This methods sets the conveyor motor power. This is useful if the entry sensor is positioned a little way back such that the conveyor motor needs to be ON and transport the object further in or out.

Parameters:

owner - specifies the owner ID to check if the caller has ownership of the conveyor.

power - specifies the conveyor motor power.

move

public void move(String owner,
 int units,
 TrcEvent event)

This method advances or backs up the conveyor by the number of object units.

Parameters:

owner - specifies the owner ID to check if the caller has ownership of the conveyor.

units - specifies the number of object units to advance or negative number to back up.

event - specifies the event to signal when done, can be null if not provided.

move

public void move(int units,
 TrcEvent event)

This method advances or backs up the conveyor by the number of object units.

Parameters:

units - specifies the number of object units to advance or negative number to back up.

event - specifies the event to signal when done, can be null if not provided.

move

public void move(int units)

This method advances or backs up the conveyor by the number of object units.

Parameters:

units - specifies the number of object units to advance or negative number to back up.

advance

public void advance()

This method advances the conveyor by the one object unit.

backup

public void backup()

This method backs up the conveyor by the one object unit.

onEntryEvent

private void onEntryEvent(Object context)

This method is called when the entry sensor is triggered.

Parameters:

context - specifies true if an object has activated the sensor, false if the object has deactivated it.

onExitEvent

private void onExitEvent(Object context)

This method is called when the exit sensor is triggered.

Parameters:

context - specifies true if an object has activated the sensor, false if the object has deactivated it.