Package trclib.subsystem

Class TrcServoGrabber.Params

java.lang.Object

trclib.subsystem.TrcServoGrabber.Params

Enclosing class:

TrcServoGrabber

public static class TrcServoGrabber.Params
extends Object

This class contains all the parameters for the servo grabber.

Field Summary

Fields

Modifier and Type	Field	Description
private double	closePos
private double	closeTime
private double	openPos
private double	openTime
private TrcTrigger	sensorTrigger
private TrcServo	servo
private boolean	triggerInverted
private Double	triggerThreshold

Constructor Summary

Constructors

Constructor	Description
Params()

Method Summary

Modifier and Type	Method	Description
TrcServoGrabber.Params	setOpenCloseParams(double openPos, double openTime, double closePos, double closeTime)	This method sets the open/close parameters of the servo grabber.
TrcServoGrabber.Params	setSensorTrigger(TrcTrigger trigger, boolean inverted, Double triggerThreshold)	This method sets the sensor trigger object with optional trigger callback.
TrcServoGrabber.Params	setServo(TrcServo servo)	This method sets the servo object for the grabber.
String	toString()	This method returns the string form of all the parameters.

Methods inherited from class java.lang.Object

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

Field Details

servo

private TrcServo servo

sensorTrigger

private TrcTrigger sensorTrigger

triggerInverted

private boolean triggerInverted

triggerThreshold

private Double triggerThreshold

openPos

private double openPos

openTime

private double openTime

closePos

private double closePos

closeTime

private double closeTime

Constructor Details

Params

public Params()

Method Details

toString

public String toString()

This method returns the string form of all the parameters.

Overrides:

toString in class Object

Returns:

string form of all the parameters.

setServo

public TrcServoGrabber.Params setServo(TrcServo servo)

This method sets the servo object for the grabber.

Parameters:

servo - specifies the servo object.

Returns:

this parameter object.

setSensorTrigger

public TrcServoGrabber.Params setSensorTrigger(TrcTrigger trigger,
 boolean inverted,
 Double triggerThreshold)

This method sets the sensor trigger object with optional trigger callback.

Parameters:

trigger - specifies the sensor trigger object.

inverted - specifies true to invert the trigger, false otherwise.

triggerThreshold - specifies the trigger threshold value.

Returns:

this parameter object.

setOpenCloseParams

public TrcServoGrabber.Params setOpenCloseParams(double openPos,
 double openTime,
 double closePos,
 double closeTime)

This method sets the open/close parameters of the servo grabber.

Parameters:

openPos - specifies the open position in physical unit.

openTime - specifies the time in seconds required to open from fully close position.

closePos - specifies the close position in physical unit.

closeTime - specifies the time in seconds required to close from fully open position.

Returns:

this parameter object.