A B C D E F G H I J L M N O P Q R S T U V W X Y

A

allState(OHMM.AllState) - Method in class ohmm.OHMM

Runs monitor command "allst".

allState() - Method in class ohmm.OHMM

covers OHMM.allState(AllState), always conses

analog - Variable in class ohmm.OHMM.SenseState

Configured analog sensor readings.

arm - Variable in class ohmm.OHMM.AllState

module state

ARM_ACTIVE - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

ARM_AT_GOAL - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

ARM_ELBOW - Static variable in class ohmm.OHMM

Arm joint indices.

ARM_ERR_AX - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

ARM_GRIPPER - Static variable in class ohmm.OHMM

Arm joint indices.

ARM_SHOULDER - Static variable in class ohmm.OHMM

Arm joint indices.

ARM_WRIST - Static variable in class ohmm.OHMM

Arm joint indices.

armActive() - Method in class ohmm.OHMM

Runs monitor command "aa".

armAtGoal() - Method in class ohmm.OHMM

Runs monitor command "aag".

armCal() - Method in class ohmm.OHMM

Runs monitor command "ac".

armEnable(boolean) - Method in class ohmm.OHMM

Runs monitor command "ae".

armGetAllCal(int[]) - Method in class ohmm.OHMM

Runs monitor command "agac".

armGetAllCal() - Method in class ohmm.OHMM

Covers OHMM.armGetAllCal(int[]), always conses.

armGetAllJoints(int[]) - Method in class ohmm.OHMM

Runs monitor command "agaj".

armGetAllJoints() - Method in class ohmm.OHMM

Covers OHMM.armGetAllJoints(int[]), always conses.

armGetAllJointsDeg(float[]) - Method in class ohmm.OHMM

Runs monitor command "agajd".

armGetAllJointsDeg() - Method in class ohmm.OHMM

Covers OHMM.armGetAllJointsDeg(float[]), always conses.

armGetAllJointsRad(float[]) - Method in class ohmm.OHMM

Runs monitor command "agajr".

armGetAllJointsRad() - Method in class ohmm.OHMM

Covers OHMM.armGetAllJointsRad(float[]), always conses.

armGetCal(int) - Method in class ohmm.OHMM

Runs monitor command "agc".

armGetGripper() - Method in class ohmm.OHMM

Runs monitor command "agg".

armGetJoint(int) - Method in class ohmm.OHMM

Runs monitor command "agj".

armGetJointDeg(int) - Method in class ohmm.OHMM

Runs monitor command "agjd".

armGetJointRad(int) - Method in class ohmm.OHMM

Runs monitor command "agjr".

armGetLoads(int[]) - Method in class ohmm.OHMM

Runs monitor command "agl".

armGetLoads() - Method in class ohmm.OHMM

Covers OHMM.armGetLoads(int[]), always conses.

armGetNumAXErrors() - Method in class ohmm.OHMM

Runs monitor command "agne".

armGetTemps(int[]) - Method in class ohmm.OHMM

Runs monitor command "agt".

armGetTemps() - Method in class ohmm.OHMM

Covers OHMM.armGetTemps(int[]), always conses.

armHold(boolean) - Method in class ohmm.OHMM

Runs monitor command "ahld".

armHome() - Method in class ohmm.OHMM

Runs monitor command "ah".

armReinit() - Method in class ohmm.OHMM

Runs monitor command "ari".

armSetAllCal(int...) - Method in class ohmm.OHMM

Runs monitor command "asac".

armSetAllJoints(int...) - Method in class ohmm.OHMM

Runs monitor command "asaj".

armSetAllJointsDeg(float...) - Method in class ohmm.OHMM

Runs monitor command "asajd".

armSetAllJointsRad(float...) - Method in class ohmm.OHMM

Runs monitor command "asajd".

armSetCal(int, int) - Method in class ohmm.OHMM

Runs monitor command "asc".

armSetGripper(float) - Method in class ohmm.OHMM

Runs monitor command "asg".

armSetJoint(int, int) - Method in class ohmm.OHMM

Runs monitor command "asj".

armSetJointDeg(int, float) - Method in class ohmm.OHMM

Runs monitor command "asjd".

armSetJointRad(int, float) - Method in class ohmm.OHMM

Runs monitor command "asjr".

armState(OHMM.ArmState) - Method in class ohmm.OHMM

Runs monitor command "armst".

armState() - Method in class ohmm.OHMM

covers OHMM.armState(ArmState), always conses

avgRecvWait - Variable in class ohmm.OHMM

Avg time spent waiting to receive a single byte, in seconds.

avgSendWait - Variable in class ohmm.OHMM

Avg time spent waiting to send a single byte, in seconds.

ax - Variable in class ohmm.OHMM.AllState

module state

AX_ERR_ANGLE_LIMIT - Static variable in class ohmm.OHMM

AX12 error flags

AX_ERR_CHECKSUM - Static variable in class ohmm.OHMM

AX12 error flags

AX_ERR_INSTRUCTION - Static variable in class ohmm.OHMM

AX12 error flags

AX_ERR_OVERHEATING - Static variable in class ohmm.OHMM

AX12 error flags

AX_ERR_OVERLOAD - Static variable in class ohmm.OHMM

AX12 error flags

AX_ERR_RANGE - Static variable in class ohmm.OHMM

AX12 error flags

AX_ERR_TIMEOUT - Static variable in class ohmm.OHMM

AX12 error flags

AX_ERR_TRANSACTION - Static variable in class ohmm.OHMM

Bitmask of AX12 error flags which indicate a failed transaction.

AX_ERR_VOLTAGE - Static variable in class ohmm.OHMM

AX12 error flags

AX_ID_BCAST - Static variable in class ohmm.OHMM

AX12 broadcast ID.

axAction(int) - Method in class ohmm.OHMM

Runs the monitor command "axact".

axErrToString(int) - Static method in class ohmm.OHMM

Convert an AX12 error code to a human readable string.

axESTOP() - Method in class ohmm.OHMM

Runs monitor command "axestop".

axGetLoad(int) - Method in class ohmm.OHMM

Runs monitor command "axgl".

axGetNumOverflows() - Method in class ohmm.OHMM

Runs monitor command "axgno".

axGetNumRetries() - Method in class ohmm.OHMM

Runs monitor command "axgnr".

axGetNumTimeouts() - Method in class ohmm.OHMM

Runs monitor command "axgnt".

axGetPos(int) - Method in class ohmm.OHMM

Runs monitor command "axgp".

axGetPosDeg(int) - Method in class ohmm.OHMM

Runs monitor command "axgpd".

axGetPosRad(int) - Method in class ohmm.OHMM

Runs monitor command "axgpr".

axGetTemp(int) - Method in class ohmm.OHMM

Runs monitor command "axgt".

axGetVolts(int) - Method in class ohmm.OHMM

Runs monitor command "axgv".

axPing(int) - Method in class ohmm.OHMM

Runs the monitor command "axpng".

axRead(int, int) - Method in class ohmm.OHMM

Runs the monitor command "axrd".

axRead(int, OHMM.AXReg) - Method in class ohmm.OHMM

Like OHMM.axRead(int, int) but takes an OHMM.AXReg.

axRead16(int, int) - Method in class ohmm.OHMM

Runs the monitor command "axrd16".

axRead16(int, OHMM.AXReg) - Method in class ohmm.OHMM

Like OHMM.axRead16(int, int) but takes an OHMM.AXReg.

axRegSetGoal(int, int) - Method in class ohmm.OHMM

Like OHMM.axSetGoal(int, int) but does a reg write.

axRegSetGoalDeg(int, float) - Method in class ohmm.OHMM

like OHMM.axRegSetGoal(int, int) but in degrees

axRegSetGoalRad(int, float) - Method in class ohmm.OHMM

like OHMM.axRegSetGoal(int, int) but in radians

axRegWrite(int, int, int) - Method in class ohmm.OHMM

Runs the monitor command "axrwr".

axRegWrite(int, OHMM.AXReg, int) - Method in class ohmm.OHMM

Like OHMM.axRegWrite(int, int, int) but takes an OHMM.AXReg.

axRegWrite11(int, int, int) - Method in class ohmm.OHMM

Runs monitor command "axrwr11".

axRegWrite11(int, OHMM.AXReg, int) - Method in class ohmm.OHMM

Like OHMM.axRegWrite11(int, int, int) but takes an OHMM.AXReg.

axReinit() - Method in class ohmm.OHMM

Runs the monitor command "axri".

axSetAngleLimits(int, int, int) - Method in class ohmm.OHMM

Runs monitor command "axsal".

axSetGoal(int, int) - Method in class ohmm.OHMM

Runs monitor command "axsg".

axSetGoalDeg(int, float) - Method in class ohmm.OHMM

like OHMM.axSetGoal(int, int) but in degrees

axSetGoalImpl(String, int, int) - Method in class ohmm.OHMM

comon impl of set goal (int) methods

axSetGoalImpl(String, int, float) - Method in class ohmm.OHMM

comon impl of set goal (float) methods

axSetGoalRad(int, float) - Method in class ohmm.OHMM

like OHMM.axSetGoal(int, int) but in radians

axState(OHMM.AXState) - Method in class ohmm.OHMM

Runs monitor command "axst".

axState() - Method in class ohmm.OHMM

covers OHMM.axState(AXState), always conses

axTorqueEnable(int, boolean) - Method in class ohmm.OHMM

Runs monitor command "axte".

axWrite(int, int, int) - Method in class ohmm.OHMM

Runs monitor command "axwr".

axWrite(int, OHMM.AXReg, int) - Method in class ohmm.OHMM

Like OHMM.axWrite(int, int, int) but takes an OHMM.AXReg.

axWrite11(int, int, int) - Method in class ohmm.OHMM

Runs monitor command "axwr11".

axWrite11(int, OHMM.AXReg, int) - Method in class ohmm.OHMM

Like OHMM.axWrite11(int, int, int) but takes an OHMM.AXReg.

axWriteImpl(String, int, int, int, int) - Method in class ohmm.OHMM

common impl of the ax write methods

B

BANNER - Static variable in class ohmm.OHMMShell

Startup banner.

bat - Variable in class ohmm.OHMM.AllState

module state

batMillivolts() - Method in class ohmm.OHMM

Runs monitor command "bat".

batState(OHMM.BatState) - Method in class ohmm.OHMM

Runs monitor command "batst".

batState() - Method in class ohmm.OHMM

covers OHMM.batState(BatState), always conses

bytesFree - Variable in class ohmm.OHMM.TaskState

estimated bytes free

bytesReceived - Variable in class ohmm.OHMM

Total number of bytes received.

bytesSent - Variable in class ohmm.OHMM

Total number of bytes sent.

C

ch - Variable in enum ohmm.OHMM.AnalogChannel

charReady() - Static method in class ohmm.OHMMShell

jscheme does not implement char-ready?

className - Variable in class ohmm.Version

The name of the class for which versioning was computed.

close() - Method in class ohmm.OHMM

Close communications with the hardware.

closingError(IOException) - Method in class ohmm.DefaultErrorHandler

Called if there was a problem closing communication.

closingError(IOException) - Method in interface ohmm.ErrorHandler

Called if there was a problem closing communication.

CMD_NAME_MAX - Static variable in class ohmm.OHMM

Max command name length.

codes - Variable in class ohmm.OHMM

Command code cache.

commandDelay - Variable in class ohmm.OHMM

Time to wait after a no-response command, in seconds.

configDone - Static variable in class ohmm.ConsoleNonblocking

whether we've configured the TTY yet

ConsoleNonblocking - Class in ohmm

Example of doing non-blocking console input on Unix.

ConsoleNonblocking() - Constructor for class ohmm.ConsoleNonblocking

counts - Variable in class ohmm.OHMM.ArmState

Current position in AX12 counts for OHMM.ARM_SHOULDER, OHMM.ARM_ELBOW, OHMM.ARM_WRIST.

counts - Variable in class ohmm.OHMM.MotState

CVS_ID_FIELD - Static variable in class ohmm.Version

Field name searched when attempting to read an SVN or CVS Id keyword expansion from a class.

D

dbg(String, byte) - Method in class ohmm.OHMM

Emit a debug message documenting a comms byte iff OHMM.debug.

debug - Variable in class ohmm.OHMM

Whether to enable debug messages.

DEF_COMMAND_DELAY - Static variable in class ohmm.OHMM

Default time to wait after a no-response command, in seconds.

DEF_PROCESS_INIT_WAIT - Static variable in class ohmm.OHMM

Default time in seconds to wait for a com process to init.

DEF_RECV_POLL_TIME - Static variable in class ohmm.OHMM

Default time to wait between checks for an available byte, in seconds.

DEF_TIMEOUT_FILE - Static variable in class ohmm.OHMM

Default time to wait for a response from the firmware, in seconds, when using the file backend.

DEF_TIMEOUT_PROXY - Static variable in class ohmm.OHMM

Default time to wait for a response from the firmware, in seconds, when using the command proxy.

DEF_TIMEOUT_RXTX - Static variable in class ohmm.OHMM

Default time to wait for a response from the firmware, in seconds, when using the RXTX backend.

DEFAULT_VERSION_FILE - Static variable in class ohmm.Version

the name of the default version file, see class header doc

DefaultErrorHandler - Class in ohmm

Default OHMM error handler.

DefaultErrorHandler(boolean, PrintStream) - Constructor for class ohmm.DefaultErrorHandler

Make a new DefaultErrorHandler.

DefaultErrorHandler(PrintStream) - Constructor for class ohmm.DefaultErrorHandler

Covers DefaultErrorHandler.DefaultErrorHandler(boolean, PrintStream), does not exit on error.

DefaultErrorHandler() - Constructor for class ohmm.DefaultErrorHandler

Covers DefaultErrorHandler.DefaultErrorHandler(boolean, PrintStream), does not exit on error and prints to System.err.

DF2 - Static variable in class ohmm.OHMM

For formatting with 2 decimal paces.

DF4 - Static variable in class ohmm.OHMM

For formatting with 4 decimal paces.

digital - Variable in class ohmm.OHMM.SenseState

Configured digital sensor readings.

drainReceiveBuffer() - Method in class ohmm.OHMM

Drain any bytes waiting in the receive buffer from the firware.

drive - Variable in class ohmm.OHMM.AllState

module state

DRIVE_CFG_INDEX_B - Static variable in class ohmm.OHMM

float index for OHMM.driveGetCfg(float[])

DRIVE_CFG_INDEX_MA - Static variable in class ohmm.OHMM

float index for OHMM.driveGetCfg(float[])

DRIVE_CFG_INDEX_MS - Static variable in class ohmm.OHMM

float index for OHMM.driveGetCfg(float[])

DRIVE_CFG_INDEX_R - Static variable in class ohmm.OHMM

float index for OHMM.driveGetCfg(float[])

DRIVE_CFG_INDEX_TOL - Static variable in class ohmm.OHMM

float index for OHMM.driveGetCfg(float[])

DRIVE_CFG_LEN - Static variable in class ohmm.OHMM

max cfg floats for OHMM.driveGetCfg(float[])

DRIVE_ERR_ODOM - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

DRIVE_ERR_TIMEOUT - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

driveArc(float, float) - Method in class ohmm.OHMM

Runs monitor command "da".

driveArcDeg(float, float) - Method in class ohmm.OHMM

Runs monitor command "dad".

driveCfgToString(float[]) - Static method in class ohmm.OHMM

Convert drive config to a human readable message.

driveCfgToString(float[], StringBuilder) - Static method in class ohmm.OHMM

helper for OHMM.driveCfgToString(float[])

driveGetCfg(float[]) - Method in class ohmm.OHMM

Runs monitor command "dgcfg".

driveGetCfg() - Method in class ohmm.OHMM

covers OHMM.driveGetCfg(float[]), always conses

driveGetPose(float[]) - Method in class ohmm.OHMM

Runs monitor command "dgp".

driveGetPose() - Method in class ohmm.OHMM

calls OHMM.driveGetPose(float[]), always conses

driveGetQueue() - Method in class ohmm.OHMM

Runs monitor command "dgq".

driveGetVL(float[]) - Method in class ohmm.OHMM

Runs monitor command "dgvl".

driveGetVL() - Method in class ohmm.OHMM

calls OHMM.driveGetVL(float[]), always conses

driveGetVW(float[]) - Method in class ohmm.OHMM

Runs monitor command "dgvw".

driveGetVW() - Method in class ohmm.OHMM

calls OHMM.driveGetVW(float[]), always conses

driveOrientationServo(float) - Method in class ohmm.OHMM

Runs monitor command "dos".

drivePause() - Method in class ohmm.OHMM

Runs monitor command "dp".

driveReinit() - Method in class ohmm.OHMM

Runs monitor command "dri".

driveResetPose() - Method in class ohmm.OHMM

Runs monitor command "drp".

driveSetBaseline(float) - Method in class ohmm.OHMM

Runs monitor command "dsbl".

driveSetMaxAccel(float) - Method in class ohmm.OHMM

Runs monitor command "dsma".

driveSetMaxSpeed(float) - Method in class ohmm.OHMM

Runs monitor command "dsms".

driveSetPosDGain(float) - Method in class ohmm.OHMM

Runs the monitor command "dsdg".

driveSetPose(float, float, float) - Method in class ohmm.OHMM

Runs monitor command "dsp".

driveSetPosIGain(float) - Method in class ohmm.OHMM

Runs the monitor command "dsig".

driveSetPosPGain(float) - Method in class ohmm.OHMM

Runs the monitor command "dspg".

driveSetTol(float) - Method in class ohmm.OHMM

Runs monitor command "dstol".

driveSetVL(float, float) - Method in class ohmm.OHMM

Runs monitor command "dsvl".

driveSetVW(float, float) - Method in class ohmm.OHMM

Runs monitor command "dsvw".

driveSetWheelRadius(float) - Method in class ohmm.OHMM

Runs monitor command "dswr".

driveState(OHMM.DriveState) - Method in class ohmm.OHMM

Runs monitor command "drvst".

driveState() - Method in class ohmm.OHMM

covers OHMM.driveState(DriveState), always conses

driveStop() - Method in class ohmm.OHMM

Runs monitor command "dst".

driveStraight(float) - Method in class ohmm.OHMM

Runs monitor command "df".

driveTurn(float) - Method in class ohmm.OHMM

Runs monitor command "dt".

driveTurnDeg(float) - Method in class ohmm.OHMM

Runs monitor command "dtd".

driveUnPause() - Method in class ohmm.OHMM

Runs monitor command "dup".

dump(PrintStream) - Method in class ohmm.Version

dumps all version info

dump() - Method in class ohmm.Version

Version.dump(PrintStream) to System.out

dumpStats(PrintStream) - Method in class ohmm.OHMM

Dump a human-readable summary of the comm stats.

dumpStats() - Method in class ohmm.OHMM

OHMM.dumpStats(PrintStream) to System.out

E

earliestRevision - Variable in class ohmm.Version

Version string in the format produced by svnversion before any colon, or Version.UNKNOWN.

echo(byte) - Method in class ohmm.OHMM

Ask the firmware to echo a byte.

echo(int, int) - Method in class ohmm.OHMM

Ask the firmware to echo an int.

echo(float) - Method in class ohmm.OHMM

Ask the firmware to echo a float.

echoFix(float) - Method in class ohmm.OHMM

Ask the firmware to echo a fix.

error(String, Exception) - Method in class ohmm.DefaultErrorHandler

Generic error handler, all other handlers funnel here.

error(String) - Method in class ohmm.DefaultErrorHandler

covers DefaultErrorHandler.error(String, Exception), no exception

error(Exception) - Method in class ohmm.DefaultErrorHandler

covers DefaultErrorHandler.error(String, Exception), no msg

error() - Method in class ohmm.DefaultErrorHandler

covers DefaultErrorHandler.error(String, Exception), no msg and no exception

ErrorHandler - Interface in ohmm

OHMM error handler.

errorHandler - Variable in class ohmm.OHMM

The currently installed error handler.

errorStream - Variable in class ohmm.DefaultErrorHandler

The stream to which error messages are printed or null for none.

ESC - Static variable in class ohmm.ConsoleNonblocking

ASCII escape character

estop() - Method in class ohmm.OHMM

Runs monitor command "estop".

exitOnError - Variable in class ohmm.DefaultErrorHandler

Whether to exit immediately on any error.

F

flushBuf - Variable in class ohmm.OHMM

Buffer where outgoing bytes are stored until they need to be flushed.

flushNext - Variable in class ohmm.OHMM

Next unused byte in OHMM.flushBuf.

fmt2(float) - Static method in class ohmm.OHMM

format f with 2 decimal places

fmt4(float) - Static method in class ohmm.OHMM

format f with 4 decimal places

freeRam() - Method in class ohmm.OHMM

Runs monitor command "fr".

G

getBytesReceived() - Method in class ohmm.OHMM

Get the total number of bytes received thus far.

getBytesSent() - Method in class ohmm.OHMM

Get the total number of bytes sent thus far.

getChar(int) - Static method in class ohmm.ConsoleNonblocking

Like System.in.read() but nonblocking.

getChar() - Static method in class ohmm.ConsoleNonblocking

getChar(int) with no timeout

getCmdCode(String) - Method in class ohmm.OHMM

Get a binary command code corresponding to a monitor command name.

getCommandDelay() - Method in class ohmm.OHMM

Get the time to wait after a no-response command, in seconds.

getCurrentTime() - Method in class ohmm.OHMM

get the current time in seconds

getDebug() - Method in class ohmm.OHMM

Get whether to enable debug output to stderr.

getErrorHandler() - Method in class ohmm.OHMM

Get the error handler.

getHostVersion() - Method in class ohmm.OHMM

get a human-readable string giving the OHMM host library version

getMonitorVersion() - Method in class ohmm.OHMM

Runs monitor command "ver".

getNumTimeouts() - Method in class ohmm.OHMM

Get the total number of timeouts.

getRecvPollTime() - Method in class ohmm.OHMM

Get the time to wait between polls for a received byte, in seconds.

getTimeout() - Method in class ohmm.OHMM

Get the time to wait for a response from the firmware, in seconds.

gripper - Variable in class ohmm.OHMM.ArmState

Current gripper state, 0.0 = closed, 1.0 or greater = open.

H

HOST_ERR_RECV - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

HOST_ERR_SEND - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

I

init() - Method in class ohmm.OHMM

(Re)initialize communications.

INIT_DELAY - Static variable in class ohmm.OHMM

Default time to wait during the OHMM.init() delays, in seconds.

INITIAL_FLUSH_BUF_LEN - Static variable in class ohmm.OHMM

Initial length of OHMM.flushBuf.

initializationError(IOException) - Method in class ohmm.DefaultErrorHandler

Called if there was a problem initializing communication.

initializationError(IOException) - Method in interface ohmm.ErrorHandler

Called if there was a problem initializing communication.

initJScheme() - Method in class ohmm.OHMMShell

Initialize JScheme.

interrupted(InterruptedException) - Method in class ohmm.DefaultErrorHandler

Called if we're interrupted while waiting.

interrupted(InterruptedException) - Method in interface ohmm.ErrorHandler

Called if we're interrupted while waiting.

istream - Variable in class ohmm.OHMM

Input stream from firmware.

J

js - Variable in class ohmm.OHMMShell

Our JScheme interpreter.

L

latestRevision - Variable in class ohmm.Version

Version string in the format produced by svnversion after any colon, or Version.UNKNOWN.

LCD_WIDTH - Static variable in class ohmm.OHMM

LCD width.

lcdAlert(int, String, String) - Method in class ohmm.OHMM

Runs monitor command "alert".

lcdMsg(String) - Method in class ohmm.OHMM

Runs monitor command "msg".

lcdMsgClr() - Method in class ohmm.OHMM

Runs monitor command "msgclr".

lcdSysMsg(int, int, String) - Method in class ohmm.OHMM

Runs monitor command "sysmsg".

lcdSysMsgClr(int, int) - Method in class ohmm.OHMM

Runs monitor command "sysmsgclr".

LEFT - Static variable in class ohmm.OHMM

drive motor indices

listPorts(PrintStream) - Static method in class ohmm.OHMM

Convenience method to query the list of available ports according to RXTX.

listPorts() - Static method in class ohmm.OHMM

OHMM.listPorts(PrintStream) to System.out

load - Variable in class ohmm.OHMM.ArmState

Current AX12 loads in TBD units.

loadJSchemeFileFromResource(String) - Method in class ohmm.OHMMShell

Load a scheme file into OHMMShell.js from a resource for this class.

loadJSchemeFiles() - Method in class ohmm.OHMMShell

load initial JScheme values

M

main(String[]) - Static method in class ohmm.ConsoleNonblocking

Demo program, reads input until user hits ESC.

main(String[]) - Static method in class ohmm.OHMMShell

Command line driver, see OHMM.USAGE.

main(String[]) - Static method in class ohmm.OHMMShellDemo

Entry point, see OHMM.USAGE.

main(String[]) - Static method in class ohmm.Version

Test driver.

makeOHMM(String[]) - Static method in class ohmm.OHMM

Constructs an OHMM from command line parameters.

maxRecvWait - Variable in class ohmm.OHMM

Max time spent waiting to receive a single byte, in seconds.

maxSendWait - Variable in class ohmm.OHMM

Max time spent waiting to send a single byte, in seconds.

minRecvWait - Variable in class ohmm.OHMM

Min time spent waiting to receive a single byte, in seconds.

minSendWait - Variable in class ohmm.OHMM

Min time spent waiting to send a single byte, in seconds.

mot - Variable in class ohmm.OHMM.AllState

module state

MOT_ERR_ENC_L - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

MOT_ERR_ENC_R - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

MOT_ERR_VEL_L - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

MOT_ERR_VEL_R - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

motFree() - Method in class ohmm.OHMM

Runs monitor command "mfr".

motGetErrors() - Method in class ohmm.OHMM

Runs monitor command "mge".

motGetPos(float[]) - Method in class ohmm.OHMM

Runs the monitor command "mgp".

motGetPos() - Method in class ohmm.OHMM

covers OHMM.motGetPos(float[]), always conses

motGetPosCounts(int[]) - Method in class ohmm.OHMM

Runs the monitor command "mgc".

motGetPosCounts() - Method in class ohmm.OHMM

covers OHMM.motGetPosCounts(int[]), always conses

motGetVel(float[]) - Method in class ohmm.OHMM

Runs the monitor command "mgv".

motGetVel() - Method in class ohmm.OHMM

covers OHMM.motGetVel(float[]), always conses

motGetVelCmd(float[]) - Method in class ohmm.OHMM

Runs the monitor command "mgvc".

motGetVelCmd() - Method in class ohmm.OHMM

covers OHMM.motGetVelCmd(float[]), always conses

motKick(int, int) - Method in class ohmm.OHMM

Runs monitor command "mk".

motReinit() - Method in class ohmm.OHMM

Runs monitor command "mri".

motSetDiffVelIGain(float) - Method in class ohmm.OHMM

Runs the monitor command "msdi".

motSetVelCmd(float, float) - Method in class ohmm.OHMM

Runs the monitor command "msv".

motSetVelDGain(float) - Method in class ohmm.OHMM

Runs the monitor command "msvd".

motSetVelIGain(float) - Method in class ohmm.OHMM

Runs the monitor command "msvi".

motSetVelPGain(float) - Method in class ohmm.OHMM

Runs the monitor command "msvp".

motState(OHMM.MotState) - Method in class ohmm.OHMM

Runs monitor command "motst".

motState() - Method in class ohmm.OHMM

covers OHMM.motState(MotState), always conses

mv - Variable in class ohmm.OHMM.BatState

battery millivolts

N

noResponseDelay() - Method in class ohmm.OHMM

Delay by the current command delay.

NUM_INIT_ZEROS - Static variable in class ohmm.OHMM

Number of zeros to send the firmware on init.

numAnalog - Variable in class ohmm.OHMM.SenseState

number of configured analog sensors

numBGTasks - Variable in class ohmm.OHMM.TaskState

number of registered background tasks

numDigital - Variable in class ohmm.OHMM.SenseState

number of configured digital sensors

numFGTasks - Variable in class ohmm.OHMM.TaskState

number of registered foreground tasks

numOverflows - Variable in class ohmm.OHMM.AXState

number of AX bus receiver overflows

numRetries - Variable in class ohmm.OHMM.AXState

number of AX bus transaction retries

numTimeouts - Variable in class ohmm.OHMM.AXState

number of AX bus transaction timeouts

numTimeouts - Variable in class ohmm.OHMM

Total number of timeouts.

O

ohmm - package ohmm

OHMM host library and JScheme shell.

OHMM - Class in ohmm

OHMM host library.

OHMM(ErrorHandler, File) - Constructor for class ohmm.OHMM

Talk to the hardware on the specified serial port, accessed as a file.

OHMM(File) - Constructor for class ohmm.OHMM

Covers OHMM.OHMM(ErrorHandler, File) with a new DefaultErrorHandler.

OHMM(ErrorHandler, String) - Constructor for class ohmm.OHMM

Similar to OHMM.OHMM(ErrorHandler, File), but uses RXTX library to access the serial port.

OHMM(String) - Constructor for class ohmm.OHMM

Covers OHMM.OHMM(ErrorHandler, String) with a new DefaultErrorHandler.

OHMM(ErrorHandler, double, String...) - Constructor for class ohmm.OHMM

Talk to the hardware via the specified process.

OHMM(ErrorHandler, String...) - Constructor for class ohmm.OHMM

Covers OHMM.OHMM(ErrorHandler, double, String...) with OHMM.DEF_PROCESS_INIT_WAIT.

OHMM(double, String...) - Constructor for class ohmm.OHMM

Covers OHMM.OHMM(ErrorHandler, double, String...) with a new DefaultErrorHandler.

OHMM(String...) - Constructor for class ohmm.OHMM

Covers OHMM.OHMM(ErrorHandler, double, String...) with a new DefaultErrorHandler and OHMM.DEF_PROCESS_INIT_WAIT.

ohmm - Variable in class ohmm.OHMM.AllState

module state

ohmm - Variable in class ohmm.OHMMShell

Our OHMM.

OHMM.AllState - Class in ohmm

state data structure for OHMM.allState(ohmm.OHMM.AllState)

OHMM.AllState() - Constructor for class ohmm.OHMM.AllState

OHMM.AnalogChannel - Enum in ohmm

Analog sensor channels.

OHMM.AnalogChannel(int) - Constructor for enum ohmm.OHMM.AnalogChannel

OHMM.ArmState - Class in ohmm

state data structure for OHMM.armState(ohmm.OHMM.ArmState)

OHMM.ArmState() - Constructor for class ohmm.OHMM.ArmState

OHMM.AXReg - Enum in ohmm

OHMM.AXReg(int) - Constructor for enum ohmm.OHMM.AXReg

OHMM.AXState - Class in ohmm

state data structure for OHMM.axState(ohmm.OHMM.AXState)

OHMM.AXState() - Constructor for class ohmm.OHMM.AXState

OHMM.BatState - Class in ohmm

state data structure for OHMM.batState(ohmm.OHMM.BatState)

OHMM.BatState() - Constructor for class ohmm.OHMM.BatState

OHMM.DigitalPin - Enum in ohmm

Digital sensor pins.

OHMM.DigitalPin(int) - Constructor for enum ohmm.OHMM.DigitalPin

OHMM.DriveState - Class in ohmm

state data structure for OHMM.driveState(ohmm.OHMM.DriveState)

OHMM.DriveState() - Constructor for class ohmm.OHMM.DriveState

OHMM.MotState - Class in ohmm

state data structure for OHMM.motState(ohmm.OHMM.MotState)

OHMM.MotState() - Constructor for class ohmm.OHMM.MotState

OHMM.OHMMState - Class in ohmm

state data structure for OHMM.ohmmState(ohmm.OHMM.OHMMState)

OHMM.OHMMState() - Constructor for class ohmm.OHMM.OHMMState

OHMM.SenseState - Class in ohmm

state data structure for OHMM.senseState(ohmm.OHMM.SenseState)

OHMM.SenseState() - Constructor for class ohmm.OHMM.SenseState

OHMM.TaskState - Class in ohmm

state data structure for OHMM.taskState(ohmm.OHMM.TaskState)

OHMM.TaskState() - Constructor for class ohmm.OHMM.TaskState

OHMM_SHELL_API - Static variable in class ohmm.OHMMShell

The name of the scheme bindings for the api.

OHMM_SHELL_EXTRA - Static variable in class ohmm.OHMMShell

The name of the scheme bindings for the extra stuff.

OHMMShell - Class in ohmm

OHMM JScheme command shell.

OHMMShell(OHMM) - Constructor for class ohmm.OHMMShell

Make a new OHMMShell wrapping an OHMM instance.

OHMMShellDemo - Class in ohmm

OHMM JScheme command shell demonstration.

OHMMShellDemo() - Constructor for class ohmm.OHMMShellDemo

ohmmState(OHMM.OHMMState) - Method in class ohmm.OHMM

Runs monitor command "ohmst".

ohmmState() - Method in class ohmm.OHMM

covers OHMM.ohmmState(OHMMState), always conses

orientationGoal - Variable in class ohmm.OHMM.DriveState

orientation servo goal or NaN if not set

ostream - Variable in class ohmm.OHMM

Output stream to firmware.

P

PID_FPF - Static variable in class ohmm.OHMM

Monitor fixed point PID implementation fraction bits.

pin - Variable in enum ohmm.OHMM.DigitalPin

PROMPT - Static variable in class ohmm.OHMMShell

Shell prompt.

Q

queue - Variable in class ohmm.OHMM.DriveState

drive queue size

R

readEvalPrintLoop(String) - Method in class ohmm.OHMMShell

Run the scheme REPL.

readEvalPrintLoop() - Method in class ohmm.OHMMShell

OHMMShell.readEvalPrintLoop(String) with default OHMMShell.PROMPT

readException(IOException) - Method in class ohmm.DefaultErrorHandler

Called when there's an IOException on recv.

readException(IOException) - Method in interface ohmm.ErrorHandler

Called when there's an IOException on recv.

recv() - Method in class ohmm.OHMM.AllState

receive all fields

recv() - Method in class ohmm.OHMM.ArmState

receive all fields

recv() - Method in class ohmm.OHMM.AXState

receive all fields

recv() - Method in class ohmm.OHMM.BatState

receive all fields

recv() - Method in class ohmm.OHMM.DriveState

receive all fields

recv() - Method in class ohmm.OHMM.MotState

receive all fields

recv() - Method in class ohmm.OHMM.OHMMState

receive all fields

recv() - Method in class ohmm.OHMM.SenseState

receive all fields

recv() - Method in class ohmm.OHMM.TaskState

receive all fields

recvBoolean() - Method in class ohmm.OHMM

Get a boolean as a byte, 0 false, 1 true.

recvByte(boolean) - Method in class ohmm.OHMM

Get a byte from the firmware.

recvByte() - Method in class ohmm.OHMM

Covers OHMM.recvByte(boolean), timeoutOk = false.

recvChar() - Method in class ohmm.OHMM

Get an ASCII char.

recvFix(int) - Method in class ohmm.OHMM

Get a 2 byte fixed point value, MSB first.

recvFloat() - Method in class ohmm.OHMM

Get a float, MSB first.

recvInt(int) - Method in class ohmm.OHMM

Get an integer, MSB first.

recvPollTime - Variable in class ohmm.OHMM

Time to wait between checks for an available byte, in seconds.

recvString(boolean) - Method in class ohmm.OHMM

Receive a null terminated string.

recvString() - Method in class ohmm.OHMM

Covers OHMM.recvString(boolean), does not whitespace terminate

recvTimedOut - Variable in class ohmm.OHMM

Whether the last OHMM.recvByte(boolean) timed out.

reg - Variable in enum ohmm.OHMM.AXReg

resetStats() - Method in class ohmm.OHMM

Reset all comm stats.

RIGHT - Static variable in class ohmm.OHMM

drive motor indices

RXTX_BAUDRATE - Static variable in class ohmm.OHMM

Serial baudrate for RXTX.

RXTX_OPEN_TIMEOUT_MS - Static variable in class ohmm.OHMM

Timeout in ms to wait to open a port with RXTX.

RXTX_PORT_OWNER_NAME - Static variable in class ohmm.OHMM

RXTX Port owner name.

rxtxSerialPort - Variable in class ohmm.OHMM

RXTX serial port or null if not using RXTX.

S

SCAL_N - Static variable in class ohmm.OHMM

LUT size for OHMM.senseConfigAnalogLUT(int, int, int[], float[])

send(String, int, boolean) - Method in class ohmm.OHMM

Send fixed length ASCII string to the firmware.

send(String, int) - Method in class ohmm.OHMM

covers OHMM.send(String, int, boolean), always flushes

send(String, boolean) - Method in class ohmm.OHMM

Send a null terminated ASCII string to the firmware.

send(String) - Method in class ohmm.OHMM

covers OHMM.send(String, boolean), always flushes

send(byte[], boolean) - Method in class ohmm.OHMM

Send an array of bytes to the firmware.

send(byte[]) - Method in class ohmm.OHMM

covers OHMM.send(byte[], boolean), always flushes

send(char, boolean) - Method in class ohmm.OHMM

Send an ASCII char to the firmware.

send(char) - Method in class ohmm.OHMM

covers OHMM.send(char, boolean), always flushes

send(boolean, boolean) - Method in class ohmm.OHMM

Send a boolean to the firmware as a byte (0 or 1).

send(boolean) - Method in class ohmm.OHMM

covers OHMM.send(boolean, boolean), always flushes

send(float, boolean) - Method in class ohmm.OHMM

Send a float to the firmware, MSB first.

send(float) - Method in class ohmm.OHMM

covers OHMM.send(float, boolean), always flushes

send(int, int, boolean) - Method in class ohmm.OHMM

Send an int to the firmware, MSB first.

send(int, int) - Method in class ohmm.OHMM

covers OHMM.send(int, int, boolean), always flushes

send(byte, boolean) - Method in class ohmm.OHMM

Send a byte to the firmware.

send(byte) - Method in class ohmm.OHMM

covers OHMM.send(byte, boolean), always flushes

sendCmdCode(String, boolean) - Method in class ohmm.OHMM

Convenience to OHMM.getCmdCode(java.lang.String) and OHMM.send(int, int, boolean).

sendCmdCode(String) - Method in class ohmm.OHMM

covers OHMM.sendCmdCode(String, boolean), always flushes

sendFix(float, int, boolean) - Method in class ohmm.OHMM

Send a 2 byte fixed point value to the firmware, MSB first.

sendFix(float, int) - Method in class ohmm.OHMM

covers OHMM.sendFix(float, int, boolean), always flushes

sendFlush() - Method in class ohmm.OHMM

flush any pending writes

sendZeros(int) - Method in class ohmm.OHMM

Send zeros.

sense - Variable in class ohmm.OHMM.AllState

module state

senseConfigAnalog(int, int) - Method in class ohmm.OHMM

Runs monitor command "sca".

senseConfigAnalog(OHMM.AnalogChannel, int) - Method in class ohmm.OHMM

Covers OHMM.senseConfigAnalog(int, int)

senseConfigAnalogIR(int, int) - Method in class ohmm.OHMM

Runs monitor command "scair".

senseConfigAnalogIR(OHMM.AnalogChannel, int) - Method in class ohmm.OHMM

Covers OHMM.senseConfigAnalogIR(int, int)

senseConfigAnalogLUT(int, int, int[], float[]) - Method in class ohmm.OHMM

Runs monitor command "scal".

senseConfigAnalogLUT(OHMM.AnalogChannel, int, int[], float[]) - Method in class ohmm.OHMM

Covers OHMM.senseConfigAnalogLUT(int, int, int[], float[])

senseConfigDigital(int, boolean, boolean) - Method in class ohmm.OHMM

Runs monitor command "scd".

senseConfigDigital(OHMM.DigitalPin, boolean, boolean) - Method in class ohmm.OHMM

Covers OHMM.senseConfigDigital(int, boolean, boolean)

senseReadAnalog(int) - Method in class ohmm.OHMM

Runs monitor command "sra".

senseReadAnalog(OHMM.AnalogChannel) - Method in class ohmm.OHMM

Covers OHMM.senseReadAnalog(int)

senseReadDigital(int) - Method in class ohmm.OHMM

Runs monitor command "srd".

senseReadDigital(OHMM.DigitalPin) - Method in class ohmm.OHMM

Covers OHMM.senseReadDigital(int)

senseReinit() - Method in class ohmm.OHMM

Runs monitor command "sri".

senseState(OHMM.SenseState) - Method in class ohmm.OHMM

Runs monitor command "snsst".

senseState() - Method in class ohmm.OHMM

covers OHMM.senseState(SenseState), always conses

setCommandDelay(double) - Method in class ohmm.OHMM

Set the time to wait after a no-response command, in seconds.

setDebug(boolean) - Method in class ohmm.OHMM

Set whether to enable debug output to stderr.

setErrorHandler(ErrorHandler) - Method in class ohmm.OHMM

Set the error handler.

setErrorStream(PrintStream) - Method in class ohmm.DefaultErrorHandler

Set the stream to which error messages are logged or null for none.

setExitOnError(boolean) - Method in class ohmm.DefaultErrorHandler

Set whether to exit immediately on any error (after printing an error message to DefaultErrorHandler.errorStream).

setJSGlobals() - Method in class ohmm.OHMMShell

bind global JScheme values

setRecvPollTime(double) - Method in class ohmm.OHMM

Set the time to wait between polls for a received byte, in seconds.

setTimeout(double) - Method in class ohmm.OHMM

Set the time to wait for a response from the firmware, in seconds.

shtdn() - Method in class ohmm.OHMM

Runs monitor command "shtdn".

sleep(double) - Method in class ohmm.OHMM

sleep at least the specfied time in seconds

status - Variable in class ohmm.OHMM.AllState

status

status(int[]) - Method in class ohmm.OHMM

Runs monitor command "status".

status() - Method in class ohmm.OHMM

covers OHMM.status(int[])

STATUS_INDEX_ARM - Static variable in class ohmm.OHMM

status index for OHMM.status(int[])

STATUS_INDEX_BAT - Static variable in class ohmm.OHMM

status index for OHMM.status(int[])

STATUS_INDEX_DRIVE - Static variable in class ohmm.OHMM

status index for OHMM.status(int[])

STATUS_INDEX_HOST - Static variable in class ohmm.OHMM

status index for OHMM.status(int[])

STATUS_INDEX_MOT - Static variable in class ohmm.OHMM

status index for OHMM.status(int[])

STATUS_INDEX_TASK - Static variable in class ohmm.OHMM

status index for OHMM.status(int[])

STATUS_LEN - Static variable in class ohmm.OHMM

max status bytes for OHMM.status(int[])

statusToString(int[]) - Static method in class ohmm.OHMM

Convert status bytes to a human readable message.

statusToString(int[], StringBuilder) - Static method in class ohmm.OHMM

helper for OHMM.statusToString(int[])

stty(String) - Static method in class ohmm.ConsoleNonblocking

Run stty with the given options.

SVN_ID_FIELD - Static variable in class ohmm.Version

Field name searched when attempting to read an SVN or CVS Id keyword expansion from a class.

svnid - Static variable in class ohmm.ConsoleNonblocking

svnid - Static variable in class ohmm.DefaultErrorHandler

svnid - Static variable in class ohmm.OHMM

svnid - Static variable in class ohmm.OHMMShell

svnid - Static variable in class ohmm.OHMMShellDemo

svnid - Static variable in class ohmm.Version

svnVersion - Variable in class ohmm.Version

Version string in the format produced by svnversion, or Version.UNKNOWN.

T

t - Variable in class ohmm.OHMM.DriveState

odometric world frame orientation in radians

task - Variable in class ohmm.OHMM.AllState

module state

TASK_ERR_COLLISION - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

TASK_ERR_MEM - Static variable in class ohmm.OHMM

status flag for OHMM.status(int[])

taskState(OHMM.TaskState) - Method in class ohmm.OHMM

Runs monitor command "tskst".

taskState() - Method in class ohmm.OHMM

covers OHMM.taskState(TaskState), always conses

temp - Variable in class ohmm.OHMM.ArmState

Current AX12 temps in deg C.

ticks - Variable in class ohmm.OHMM.OHMMState

OrangutanTime ticks

ticks() - Method in class ohmm.OHMM

Runs monitor command "tck".

timeout() - Method in class ohmm.DefaultErrorHandler

Called when we timeout on a recv.

timeout() - Method in interface ohmm.ErrorHandler

Called when we timeout on a recv.

timeout - Variable in class ohmm.OHMM

Time to wait for a response from the firmware, in seconds.

toString() - Method in class ohmm.OHMM.AllState

make a human readable message string summarizing the state

toString(StringBuilder) - Method in class ohmm.OHMM.AllState

helper for OHMM.AllState.toString()

toString() - Method in class ohmm.OHMM.ArmState

make a human readable message string summarizing the state

toString(StringBuilder) - Method in class ohmm.OHMM.ArmState

helper for OHMM.ArmState.toString()

toString() - Method in class ohmm.OHMM.AXState

make a human readable message string summarizing the state

toString(StringBuilder) - Method in class ohmm.OHMM.AXState

helper for OHMM.AXState.toString()

toString() - Method in class ohmm.OHMM.BatState

make a human readable message string summarizing the state

toString(StringBuilder) - Method in class ohmm.OHMM.BatState

helper for OHMM.BatState.toString()

toString() - Method in class ohmm.OHMM.DriveState

make a human readable message string summarizing the state

toString(StringBuilder) - Method in class ohmm.OHMM.DriveState

helper for OHMM.DriveState.toString()

toString() - Method in class ohmm.OHMM.MotState

make a human readable message string summarizing the state

toString(StringBuilder) - Method in class ohmm.OHMM.MotState

helper for OHMM.MotState.toString()

toString() - Method in class ohmm.OHMM.OHMMState

make a human readable message string summarizing the state

toString(StringBuilder) - Method in class ohmm.OHMM.OHMMState

helper for OHMM.OHMMState.toString()

toString() - Method in class ohmm.OHMM.SenseState

make a human readable message string summarizing the state

toString(StringBuilder) - Method in class ohmm.OHMM.SenseState

helper for OHMM.SenseState.toString()

toString() - Method in class ohmm.OHMM.TaskState

make a human readable message string summarizing the state

toString(StringBuilder) - Method in class ohmm.OHMM.TaskState

helper for OHMM.TaskState.toString()

totalRecvWait - Variable in class ohmm.OHMM

Total time spent waiting to receive bytes, in seconds.

totalSendWait - Variable in class ohmm.OHMM

Total time spent waiting to send bytes, in seconds.

U

UNKNOWN - Static variable in class ohmm.Version

unknown version fields are set to this value

USAGE - Static variable in class ohmm.OHMM

OHMM.makeOHMM(java.lang.String[]) Usage message.

V

v - Variable in class ohmm.OHMM.DriveState

forward velocity in mm/s

valueOf(String) - Static method in enum ohmm.OHMM.AnalogChannel

Returns the enum constant of this type with the specified name.

valueOf(String) - Static method in enum ohmm.OHMM.AXReg

Returns the enum constant of this type with the specified name.

valueOf(String) - Static method in enum ohmm.OHMM.DigitalPin

Returns the enum constant of this type with the specified name.

values() - Static method in enum ohmm.OHMM.AnalogChannel

Returns an array containing the constants of this enum type, in the order they are declared.

values() - Static method in enum ohmm.OHMM.AXReg

Returns an array containing the constants of this enum type, in the order they are declared.

values() - Static method in enum ohmm.OHMM.DigitalPin

Returns an array containing the constants of this enum type, in the order they are declared.

velocity - Variable in class ohmm.OHMM.MotState

VERSION - Static variable in class ohmm.OHMM

Version info for the host library.

Version - Class in ohmm

Version utility.

Version(Class, String) - Constructor for class ohmm.Version

Parse version info.

Version(Class) - Constructor for class ohmm.Version

Covers Version.Version(Class, String), uses Version.DEFAULT_VERSION_FILE.

Version(String) - Constructor for class ohmm.Version

Covers Version.Version(Class, String), uses this class.

Version() - Constructor for class ohmm.Version

Covers Version.Version(Class, String), uses this class and Version.DEFAULT_VERSION_FILE.

versionDate - Variable in class ohmm.Version

A string identifying the version by date or Version.UNKNOWN.

versionFileName - Variable in class ohmm.Version

The name of the file from which version info was read or null if version info was parsed from an SVN or CVS Id keyword expansion.

W

w - Variable in class ohmm.OHMM.DriveState

rotation velocity in rad/s

writeException(IOException) - Method in class ohmm.DefaultErrorHandler

Called when there's an IOException on send.

writeException(IOException) - Method in interface ohmm.ErrorHandler

Called when there's an IOException on send.

X

x - Variable in class ohmm.OHMM.DriveState

odometric world frame location in mm

Y

y - Variable in class ohmm.OHMM.DriveState

odometric world frame location in mm

A B C D E F G H I J L M N O P Q R S T U V W X Y