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

Example 6 with ServoChannel

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

the class ServoRotoryLink 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;
}

Example 7 with ServoChannel

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

the class LinkFactory method getLinkLocal.

private AbstractLink getLinkLocal(LinkConfiguration c) {
    if (dyio == null)
        dyio = (DyIO) DeviceManager.getSpecificDevice(DyIO.class, c.getDeviceScriptingName());
    if (pid == null)
        pid = (IPidControlNamespace) DeviceManager.getSpecificDevice(IPidControlNamespace.class, c.getDeviceScriptingName());
    AbstractLink tmp = null;
    Log.info("Loading link: " + c.getName() + " type = " + c.getType() + " device= " + c.getDeviceScriptingName());
    switch(c.getType()) {
        case ANALOG_PRISMATIC:
            if (dyio != null) {
                tmp = new AnalogPrismaticLink(new AnalogInputChannel(dyio.getChannel(c.getHardwareIndex())), c);
                tmp.setUseLimits(false);
            }
            break;
        case ANALOG_ROTORY:
            if (dyio != null) {
                tmp = new AnalogRotoryLink(new AnalogInputChannel(dyio.getChannel(c.getHardwareIndex())), c);
                tmp.setUseLimits(false);
            }
            break;
        case PID_TOOL:
        case PID:
            if (pid != null) {
                tmp = new PidRotoryLink(pid.getPIDChannel(c.getHardwareIndex()), c);
            }
            break;
        case PID_PRISMATIC:
            if (pid != null) {
                tmp = new PidPrismaticLink(pid.getPIDChannel(c.getHardwareIndex()), c);
            }
            break;
        case SERVO_PRISMATIC:
            if (dyio != null) {
                tmp = new ServoPrismaticLink(new ServoChannel(dyio.getChannel(c.getHardwareIndex())), c);
            }
            break;
        case SERVO_ROTORY:
        case SERVO_TOOL:
            if (dyio != null) {
                tmp = new ServoRotoryLink(new ServoChannel(dyio.getChannel(c.getHardwareIndex())), c);
            }
            break;
        case STEPPER_PRISMATIC:
            if (dyio != null) {
                tmp = new StepperPrismaticLink(new CounterOutputChannel(dyio.getChannel(c.getHardwareIndex())), c);
            }
            break;
        case STEPPER_TOOL:
        case STEPPER_ROTORY:
            if (dyio != null) {
                tmp = new StepperRotoryLink(new CounterOutputChannel(dyio.getChannel(c.getHardwareIndex())), c);
            }
            break;
        case DUMMY:
        case VIRTUAL:
            String myVirtualDevName = c.getDeviceScriptingName();
            virtual = (VirtualGenericPIDDevice) DeviceManager.getSpecificDevice(VirtualGenericPIDDevice.class, myVirtualDevName);
            if (virtual == null) {
                virtual = new VirtualGenericPIDDevice();
                DeviceManager.addConnection(virtual, myVirtualDevName);
            }
            tmp = new PidRotoryLink(virtual.getPIDChannel(c.getHardwareIndex()), c);
            break;
    }
    if (tmp == null) {
        String myVirtualDevName = "virtual_" + c.getDeviceScriptingName();
        virtual = (VirtualGenericPIDDevice) DeviceManager.getSpecificDevice(VirtualGenericPIDDevice.class, myVirtualDevName);
        if (virtual == null) {
            virtual = new VirtualGenericPIDDevice();
            DeviceManager.addConnection(virtual, myVirtualDevName);
        }
        if (!c.getType().isPrismatic()) {
            tmp = new PidRotoryLink(virtual.getPIDChannel(c.getHardwareIndex()), c);
        } else {
            tmp = new PidPrismaticLink(virtual.getPIDChannel(c.getHardwareIndex()), c);
        }
    }
    tmp.setLinkConfiguration(c);
    links.add(tmp);
    if (!getLinkConfigurations().contains(c))
        getLinkConfigurations().add(c);
    return tmp;
}

Example 8 with ServoChannel

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

the class BasicWalker method parse.

private void parse(InputStream is) {
    /**
     * sample code from
     * http://www.mkyong.com/java/how-to-read-xml-file-in-java-dom-parser/
     */
    DocumentBuilderFactory dbFactory = DocumentBuilderFactory.newInstance();
    DocumentBuilder dBuilder;
    Document doc = null;
    try {
        dBuilder = dbFactory.newDocumentBuilder();
        doc = dBuilder.parse(is);
        doc.getDocumentElement().normalize();
    } catch (ParserConfigurationException e) {
        throw new RuntimeException(e);
    } catch (SAXException e) {
        throw new RuntimeException(e);
    } catch (IOException e) {
        throw new RuntimeException(e);
    }
    // System.out.println("Parsing File...");
    NodeList nList = doc.getElementsByTagName("leg");
    for (int temp = 0; temp < nList.getLength(); temp++) {
        // System.out.println("Leg # "+temp);
        Node nNode = nList.item(temp);
        ArrayList<WalkerServoLink> legLinks = new ArrayList<WalkerServoLink>();
        if (nNode.getNodeType() == Node.ELEMENT_NODE) {
            Element eElement = (Element) nNode;
            x = Double.parseDouble(getTagValue("x", eElement));
            y = Double.parseDouble(getTagValue("y", eElement));
            theta = Double.parseDouble(getTagValue("theta", eElement));
            // Leg tmpLeg = new Leg(x,y,theta);
            NodeList links = eElement.getElementsByTagName("link");
            for (int i = 0; i < links.getLength(); i++) {
                // System.out.println("\tLink # "+i);
                Node lNode = links.item(i);
                if (lNode.getNodeType() == Node.ELEMENT_NODE) {
                    Element lElement = (Element) lNode;
                    llimit = Integer.parseInt(getTagValue("llimit", lElement));
                    ulimit = Integer.parseInt(getTagValue("ulimit", lElement));
                    home = Integer.parseInt(getTagValue("home", lElement));
                    channel = Integer.parseInt(getTagValue("channel", lElement));
                    inverse = Double.parseDouble(getTagValue("inverse", lElement));
                    scale = Double.parseDouble(getTagValue("scale", lElement));
                    linkLen = Double.parseDouble(getTagValue("linkLen", lElement));
                    String type = getTagValue("type", lElement);
                    if (useHardware) {
                        ServoChannel srv = new ServoChannel(getDyio().getChannel(channel));
                        WalkerServoLink tmpLink = new WalkerServoLink(srv, new LinkConfiguration(home, llimit, ulimit, (scale * inverse)), linkLen, type);
                        legLinks.add(tmpLink);
                    }
                }
            }
            addLeg(x, y, theta, legLinks);
        } else {
        // System.out.println("Not Element Node");
        }
    }
    System.out.println("Populated Hexapod.");
}

Example 9 with ServoChannel

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

the class SpeedTest method main.

/**
 * @param args
 */
public static void main(String[] args) {
    DyIO.disableFWCheck();
    ByteList.setUseStaticBuffer(true);
    // BowlerAbstractConnection c =  new SerialConnection("/dev/DyIO0")
    // BowlerAbstractConnection c =  new SerialConnection("COM65")
    BowlerAbstractConnection c = ConnectionDialog.promptConnection();
    c.setThreadedUpstreamPackets(false);
    if (c == null)
        System.exit(1);
    System.out.println("Starting test");
    DyIO dyio = new DyIO(c);
    // dyio.setThreadedUpstreamPackets(false);
    long start = System.currentTimeMillis();
    dyio.connect();
    dyio.setServoPowerSafeMode(false);
    System.out.println("Startup time: " + (System.currentTimeMillis() - start) + " ms");
    // dyio.enableDebug();
    dyio.setServoPowerSafeMode(false);
    for (int i = 0; i < 24; i++) {
        dyio.getChannel(i).setAsync(false);
    }
    DigitalInputChannel dip = new DigitalInputChannel(dyio.getChannel(0));
    ServoChannel dop = new ServoChannel(dyio.getChannel(1));
    // new PPMReaderChannel(dyio.getChannel(23));
    // new ServoChannel(dyio.getChannel(11));
    double avg = 0;
    int i;
    avg = 0;
    start = System.currentTimeMillis();
    double best = 1000;
    double worst = 0;
    for (i = 0; i < 500; i++) {
        dyio.ping();
        double ms = System.currentTimeMillis() - start;
        avg += ms;
        start = System.currentTimeMillis();
        if (ms < best)
            best = ms;
        if (ms > worst)
            worst = ms;
    }
    System.out.println("Average cycle time for ping: " + (avg / i) + " ms" + " best=" + best / 2 + "ms worst=" + worst / 2);
    boolean high = false;
    // dyio.setCachedMode(true);
    avg = 0;
    best = 1000;
    worst = 0;
    double numLoops = 500.0;
    for (i = 0; i < numLoops; i++) {
        start = System.currentTimeMillis();
        try {
            dip.getValue();
            dop.SetPosition((int) ((((double) i) / numLoops) * 255.0));
        } catch (Exception ex) {
            ex.printStackTrace();
        }
        double ms = System.currentTimeMillis() - start;
        if (ms < best)
            best = ms;
        if (ms > worst)
            worst = ms;
        avg += ms;
        start = System.currentTimeMillis();
    // System.out.println("Average cycle time: "+(int)(avg/i)/2+"ms\t\t\t this loop was: "+ms/2+"\t\tindex="+i);
    }
    dop.SetPosition(128);
    System.out.println("Average cycle time for IO : " + (avg / (i + 1)) / 2 + " ms best=" + best / 2 + "ms worst=" + worst / 2);
    avg = 0;
    best = 1000;
    worst = 0;
    dyio.setCachedMode(true);
    // Log.enableDebugPrint(true);
    for (i = 0; i < 500; i++) {
        start = System.currentTimeMillis();
        dyio.flushCache(0);
        double ms = System.currentTimeMillis() - start;
        if (ms < best)
            best = ms;
        if (ms > worst)
            worst = ms;
        avg += ms;
        start = System.currentTimeMillis();
    // System.out.println("Average cycle time: "+(int)(avg/i)+"ms\t\t\t this loop was: "+ms);
    }
    System.out.println("Average cycle time for cache flush: " + (avg / (i + 1)) + " ms best=" + best + "ms worst=" + worst);
    avg = 0;
    best = 1000;
    worst = 0;
    dyio.setCachedMode(true);
    // Log.enableDebugPrint(true);
    for (i = 0; i < 500; i++) {
        start = System.currentTimeMillis();
        dyio.getAllChannelValues();
        double ms = System.currentTimeMillis() - start;
        if (ms < best)
            best = ms;
        if (ms > worst)
            worst = ms;
        avg += ms;
        start = System.currentTimeMillis();
    // System.out.println("Average cycle time: "+(int)(avg/i)+"ms\t\t\t this loop was: "+ms);
    }
    System.out.println("Average cycle time for values get: " + (avg / (i + 1)) + " ms best=" + best + "ms worst=" + worst);
    dyio.setServoPowerSafeMode(true);
    System.exit(0);
}

Example 10 with ServoChannel

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

the class CoreScheduler method addServoChannel.

public ServoOutputScheduleChannel addServoChannel(int dyIOChannel) {
    System.out.println("Adding DyIO channel: " + dyIOChannel);
    ServoChannel srv = new ServoChannel(getDyIO().getChannel(dyIOChannel));
    srv.SetPosition(srv.getValue());
    srv.flush();
    srv.getChannel().setCachedMode(true);
    ServoOutputScheduleChannel soc = new ServoOutputScheduleChannel(srv);
    soc.setIntervalTime(getLoopTime(), getTrackLength());
    addISchedulerListener(soc);
    // soc.setIntervalTime(loopTime);
    getOutputs().add(soc);
    return soc;
}