ohmm
Class OHMMSite

java.lang.Object
  ohmm.OHMM
      ohmm.OHMMDrive
          ohmm.OHMMSite

public class OHMMSite
extends OHMMDrive

OHMM high level processor library with site extensions.

Author:

Marsette A. Vona

Nested Class Summary

Nested classes/interfaces inherited from class ohmm.OHMMDrive

OHMMDrive.AllStateDrive, OHMMDrive.DriveState

Nested classes/interfaces inherited from class ohmm.OHMM

OHMM.AllState, OHMM.AnalogChannel, OHMM.ArmState, OHMM.AXReg, OHMM.AXState, OHMM.BatState, OHMM.DigitalPin, OHMM.MotState, OHMM.OHMMState, OHMM.SenseState, OHMM.TaskState

Field Summary

private static java.lang.String

svnid

Fields inherited from class ohmm.OHMMDrive

DRIVE_CFG_INDEX_B, DRIVE_CFG_INDEX_MA, DRIVE_CFG_INDEX_MS, DRIVE_CFG_INDEX_R, DRIVE_CFG_INDEX_TOL, DRIVE_CFG_LEN, DRIVE_ERR_ODOM, DRIVE_ERR_TIMEOUT, STATUS_INDEX_ARM, STATUS_INDEX_DRIVE, STATUS_LEN, VERSION

Fields inherited from class ohmm.OHMM

ARM_ACTIVE, ARM_AT_GOAL, ARM_ELBOW, ARM_ERR_AX, ARM_FREEZE_CAL, ARM_GRIPPER, ARM_SHOULDER, ARM_WRIST, avgRecvWait, avgSendWait, AX_ERR_ANGLE_LIMIT, AX_ERR_CHECKSUM, AX_ERR_INSTRUCTION, AX_ERR_OVERHEATING, AX_ERR_OVERLOAD, AX_ERR_RANGE, AX_ERR_TIMEOUT, AX_ERR_TRANSACTION, AX_ERR_VOLTAGE, AX_ID_BCAST, bytesReceived, bytesSent, CMD_NAME_MAX, codes, commandDelay, debug, DEF_COMMAND_DELAY, DEF_PROCESS_INIT_WAIT, DEF_RECV_POLL_TIME, DEF_TIMEOUT_FILE, DEF_TIMEOUT_PROXY, DEF_TIMEOUT_RXTX, DF2, DF4, errorHandler, flushBuf, flushNext, HLP_ERR_RECV, HLP_ERR_SEND, INIT_DELAY, INITIAL_FLUSH_BUF_LEN, istream, LCD_WIDTH, LEFT, maxRecvWait, maxSendWait, minRecvWait, minSendWait, MOT_ERR_ENC_L, MOT_ERR_ENC_R, MOT_ERR_VEL_L, MOT_ERR_VEL_R, NUM_INIT_ZEROS, numTimeouts, OHMM_SITE_CLASS, OHMM_SITE_CLASS_PROP, ostream, PID_FPF, recvPollTime, recvTimedOut, RIGHT, RXTX_BAUDRATE, RXTX_OPEN_TIMEOUT_MS, RXTX_PORT_OWNER_NAME, rxtxSerialPort, SCAL_N, STATUS_INDEX_BAT, STATUS_INDEX_HLP, STATUS_INDEX_MOT, STATUS_INDEX_TASK, TASK_ERR_COLLISION, TASK_ERR_MEM, timeout, totalRecvWait, totalSendWait, USAGE

Constructor Summary

OHMMSite()
Calls superclass constructor.

OHMMSite(double initWait, java.lang.String[] cmd)
Calls superclass constructor.

OHMMSite(ErrorHandler eh)
Calls superclass constructor.

OHMMSite(ErrorHandler eh, double initWait, java.lang.String[] cmd)
Calls superclass constructor.

OHMMSite(ErrorHandler eh, java.io.File p)
Calls superclass constructor.

OHMMSite(ErrorHandler eh, java.lang.String p)
Calls superclass constructor.

OHMMSite(ErrorHandler eh, java.lang.String[] cmd)
Calls superclass constructor.

OHMMSite(java.io.File p)
Calls superclass constructor.

OHMMSite(java.lang.String p)
Calls superclass constructor.

OHMMSite(java.lang.String[] cmd)
Calls superclass constructor.

Method Summary

Methods inherited from class ohmm.OHMMDrive

driveArc, driveArcDeg, driveCfgToString, driveCfgToString, driveGetCfg, driveGetCfg, driveGetPose, driveGetPose, driveGetQueue, driveGetVL, driveGetVL, driveGetVW, driveGetVW, driveOrientationServo, drivePause, driveReinit, driveResetPose, driveSetBaseline, driveSetMaxAccel, driveSetMaxSpeed, driveSetPosDGain, driveSetPose, driveSetPosIGain, driveSetPosPGain, driveSetTol, driveSetVL, driveSetVW, driveSetWheelRadius, driveState, driveState, driveStop, driveStraight, driveTurn, driveTurnDeg, driveUnPause, getHLPVersion, getStatusIndexArm, getStatusIndexDrive, getStatusLength, makeAllState, statusToString

Methods inherited from class ohmm.OHMM

allState, allState, armActive, armAtGoal, armCal, armEnable, armFreezeAllCal, armGetAllCal, armGetAllCal, armGetAllJoints, armGetAllJoints, armGetAllJointsDeg, armGetAllJointsDeg, armGetAllJointsRad, armGetAllJointsRad, armGetCal, armGetGripper, armGetJoint, armGetJointDeg, armGetJointRad, armGetLoads, armGetLoads, armGetNumAXErrors, armGetTemps, armGetTemps, armHome, armReinit, armSetAllCal, armSetAllJoints, armSetAllJointsDeg, armSetAllJointsRad, armSetCal, armSetGripper, armSetJoint, armSetJointDeg, armSetJointRad, armState, armState, axAction, axErrToString, axESTOP, axGetLoad, axGetNumOverflows, axGetNumRetries, axGetNumTimeouts, axGetPos, axGetPosDeg, axGetPosRad, axGetTemp, axGetVolts, axPing, axRead, axRead, axRead16, axRead16, axRegSetGoal, axRegSetGoalDeg, axRegSetGoalRad, axRegWrite, axRegWrite, axRegWrite11, axRegWrite11, axReinit, axSetAngleLimits, axSetGoal, axSetGoalDeg, axSetGoalImpl, axSetGoalImpl, axSetGoalRad, axState, axState, axTorqueEnable, axWrite, axWrite, axWrite11, axWrite11, axWriteImpl, batMillivolts, batState, batState, close, dbg, drainReceiveBuffer, dumpStats, dumpStats, echo, echo, echo, echoFix, estop, fmt2, fmt4, freeRam, getBytesReceived, getBytesSent, getCmdCode, getCommandDelay, getCurrentTime, getDebug, getErrorHandler, getMonitorVersion, getNumTimeouts, getOHMMClass, getRecvPollTime, getStatusIndexBat, getStatusIndexHLP, getStatusIndexMot, getStatusIndexTask, getTimeout, init, init, lcdAlert, lcdMsg, lcdMsgClr, lcdSysMsg, lcdSysMsgClr, listPorts, listPorts, makeOHMM, makeOHMM, motFree, motGetErrors, motGetGainCmd, motGetPos, motGetPos, motGetPosCounts, motGetPosCounts, motGetVel, motGetVel, motGetVelCmd, motGetVelCmd, motKick, motReinit, motSetDiffVelIGain, motSetVelCmd, motSetVelDGain, motSetVelIGain, motSetVelPGain, motState, motState, noResponseDelay, ohmmState, ohmmState, printUsage, recvBoolean, recvByte, recvByte, recvChar, recvFix, recvFloat, recvInt, recvString, recvString, resetStats, send, send, send, send, send, send, send, send, send, send, send, send, send, send, send, send, sendCmdCode, sendCmdCode, sendFix, sendFix, sendFlush, sendZeros, senseConfigAnalog, senseConfigAnalog, senseConfigAnalogIR, senseConfigAnalogIR, senseConfigAnalogLUT, senseConfigAnalogLUT, senseConfigDigital, senseConfigDigital, senseReadAnalog, senseReadAnalog, senseReadDigital, senseReadDigital, senseReinit, senseState, senseState, setCommandDelay, setDebug, setErrorHandler, setRecvPollTime, setTimeout, shtdn, sleep, status, status, statusToString, taskState, taskState, ticks

Methods inherited from class java.lang.Object

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

Field Detail

svnid

private static final java.lang.String svnid

See Also:

Constant Field Values

Constructor Detail

OHMMSite

public OHMMSite(ErrorHandler eh,
                java.io.File p)

Calls superclass constructor.

OHMMSite

public OHMMSite(java.io.File p)

Calls superclass constructor.

OHMMSite

public OHMMSite(ErrorHandler eh,
                java.lang.String p)

Calls superclass constructor.

OHMMSite

public OHMMSite(java.lang.String p)

Calls superclass constructor.

OHMMSite

public OHMMSite(ErrorHandler eh,
                double initWait,
                java.lang.String[] cmd)

Calls superclass constructor.

OHMMSite

public OHMMSite(ErrorHandler eh,
                java.lang.String[] cmd)

Calls superclass constructor.

OHMMSite

public OHMMSite(double initWait,
                java.lang.String[] cmd)

Calls superclass constructor.

OHMMSite

public OHMMSite(java.lang.String[] cmd)

Calls superclass constructor.

OHMMSite

public OHMMSite(ErrorHandler eh)

Calls superclass constructor.

OHMMSite

public OHMMSite()

Calls superclass constructor.