Examples with ServoChannel com.neuronrobotics.sdk.dyio.peripherals.ServoChannel used on opensource projects

Example 1 with ServoChannel

use of com.neuronrobotics.sdk.dyio.peripherals.ServoChannel in project java-bowler by NeuronRobotics.

the class DrivingTest method setupRealRobot.

private void setupRealRobot(DyIO dyio) {
    DyPIDConfiguration dypid = new // PID group 0
    DyPIDConfiguration(// PID group 0
    0, // Input channel number
    23, // Input mode
    DyIOChannelMode.COUNT_IN_INT, // Output Channel
    11, // Output mode
    DyIOChannelMode.SERVO_OUT);
    PIDConfiguration pid = new // PID group
    PIDConfiguration(// PID group
    0, // enabled
    true, // inverted
    false, // Async
    true, // Kp
    1, // Ki
    1, // Kd
    .5, // Value to latch on index pulse
    0, // Use the latch system
    false, // Stop PID controller on index latch event
    false);
    dyio.ConfigureDynamicPIDChannels(dypid);
    dyio.ConfigurePIDController(pid);
    PIDChannel drive = dyio.getPIDChannel(0);
    ServoChannel srv = new ServoChannel(dyio.getChannel(10));
    AckermanBot a = new AckermanBot(new ServoRotoryLink(srv, new LinkConfiguration(98, 51, 143, 1)), drive);
    ServoChannel sweeper = new ServoChannel(dyio.getChannel(9));
    range = new LaserRangeSensor(new NRSerialPort("/dev/ttyACM0", 115200));
    // range = new LinearRangeSensor(	sweeper,
    // new AnalogInputChannel(dyio.getChannel(12)));
    line = new LineSensor(new AnalogInputChannel(dyio.getChannel(13)), null, new AnalogInputChannel(dyio.getChannel(14)));
    // This flame sensor uses the same servo as the rangefinder
    flame = new LinearRangeSensor(sweeper, new AnalogInputChannel(dyio.getChannel(15)));
    mainRobot = a;
}

Example 2 with ServoChannel

use of com.neuronrobotics.sdk.dyio.peripherals.ServoChannel in project java-bowler by NeuronRobotics.

the class RealLineTrack method main.

/**
 * @param args
 */
public static void main(String[] args) {
    final DyIO d = new DyIO();
    ConnectionDialog.getBowlerDevice(d);
    if (d.isAvailable()) {
        new Thread() {

            public void run() {
                DyPIDConfiguration dypid = new // PID group 0
                DyPIDConfiguration(// PID group 0
                0, // Input channel number
                23, // Input mode
                DyIOChannelMode.COUNT_IN_INT, // Output Channel
                11, // Output mode
                DyIOChannelMode.SERVO_OUT);
                PIDConfiguration pid = new // PID group
                PIDConfiguration(// PID group
                0, // enabled
                true, // inverted
                false, // Async
                true, // Kp
                1, // Ki
                1, .5, 0, false, // Kd
                false);
                d.ConfigureDynamicPIDChannels(dypid);
                d.ConfigurePIDController(pid);
                PIDChannel drive = d.getPIDChannel(0);
                ServoChannel srv = new ServoChannel(d.getChannel(10));
                AbstractRobotDrive mainRobot = new AckermanBot(new ServoRotoryLink(srv, new LinkConfiguration(98, 51, 143, 1)), drive);
                AbstractSensor line = new LineSensor(new AnalogInputChannel(d.getChannel(14), true), null, new AnalogInputChannel(d.getChannel(13), true));
            // new LineTrack().runTrack(mainRobot,line);
            }
        }.start();
    } else {
        System.out.println("Failed");
        d.disconnect();
    }
}

Example 3 with ServoChannel

use of com.neuronrobotics.sdk.dyio.peripherals.ServoChannel in project java-bowler by NeuronRobotics.

the class AnalogInputTest method main.

/**
 * @param args
 */
public static void main(String[] args) {
    DyIO.disableFWCheck();
    Log.enableDebugPrint();
    DyIO dyio = new DyIO();
    if (!ConnectionDialog.getBowlerDevice(dyio)) {
        System.exit(1);
    }
    AnalogInputChannel ana = new AnalogInputChannel(dyio, 15);
    ana.setAsync(false);
    // Loop forever printing out the voltage on the pin
    ServoChannel servo = new ServoChannel(dyio, 1);
    servo.SetPosition(128);
    while (true) {
        // System.out.println(ana.getValue());
        int currentVoltageValue = ana.getValue();
        int scaledVoltageValue = currentVoltageValue / 4;
        servo.SetPosition(scaledVoltageValue);
    }
}

Example 4 with ServoChannel

use of com.neuronrobotics.sdk.dyio.peripherals.ServoChannel in project java-bowler by NeuronRobotics.

the class CoordinatedMotion method main.

public static void main(String[] args) throws InterruptedException {
    DyIO dyio = new DyIO();
    if (!ConnectionDialog.getBowlerDevice(dyio)) {
        System.exit(1);
    }
    dyio.connect();
    int[] vals = dyio.getAllChannelValues();
    // Set up the array of channels
    ArrayList<ServoChannel> chans = new ArrayList<ServoChannel>();
    Log.enableDebugPrint();
    float time = 5;
    for (int i = 0; i < 12; i++) {
        chans.add(new ServoChannel(dyio.getChannel(i)));
    }
    // Set the DyIO into cached mode
    dyio.setCachedMode(true);
    int pos = 50;
    for (int i = 0; i < 5; i++) {
        pos = (pos == 50) ? 200 : 50;
        for (ServoChannel s : chans) {
            // Store the cached value
            s.getChannel().setCachedValue(pos);
        }
        // Flush all values to the DyIO
        dyio.flushCache(time);
        Thread.sleep((long) (time * 1500));
    }
    System.exit(0);
}

Example 5 with ServoChannel

use of com.neuronrobotics.sdk.dyio.peripherals.ServoChannel in project java-bowler by NeuronRobotics.

the class ServoPrismaticLink method setServoChannel.

public void setServoChannel(ServoChannel srv) {
    // System.out.println("Setting new servo channel: "+srv.getChannel().getNumber());
    srv.getChannel().setCachedMode(true);
    srv.addIServoPositionUpdateListener(new IServoPositionUpdateListener() {

        @Override
        public void onServoPositionUpdate(ServoChannel srv, int position, double time) {
            fireLinkListener(position);
        }
    });
    this.srv = srv;
}