org.bluemelon.bluesense
Class StepperDevice

java.lang.Object
  org.bluemelon.bluesense.Device
      org.bluemelon.bluesense.StepperDevice

public class StepperDevice
extends Device

Interface to the dc stepper module. This module can be used to control the speed of 2 dc steppers.

Field Summary

static int	PROXY_ID
static java.lang.String	PROXY_TITLE
static int[]	SUPPORTS

Constructor Summary

StepperDevice(Master master, int deviceId)
Creates a 'software' dc stepper device proxy with a given id.

Method Summary

boolean	getConfigurationAutoStop()
int	getConfigurationCurrent()
boolean	getConfigurationFastDecay()
boolean	getConfigurationHalfStep()
boolean	getConfigurationWaveDrive()
int	getCurrentSpeed() Returns the current set speed of a specific stepper.
int	getCurrentStepCount()
boolean	getPendingConfigurationAutoStop()
int	getPendingConfigurationCurrent()
boolean	getPendingConfigurationFastDecay()
boolean	getPendingConfigurationHalfStep()
boolean	getPendingConfigurationWaveDrive()
int	getPendingSpeed() Returns the speed of a specific stepper, which is currently underway to the device
boolean	getRequestGetConfigurationDone()
boolean	getRequestSetConfigurationDone() Checks if the configuration request is finished
boolean	getRequestSetSpeedDone() Checks if the speed set request is finished
long	getTimeOutUs() Returns the current set time out delay.
void	requestGetConfiguration()
void	requestGetState()
void	requestSetConfiguration(int current, boolean autoStop, boolean halfStep, boolean waveDrive, boolean fastDecay) Requests setting a new configuration
void	requestSetStepCount(int speed, int count) Requests the stepper device to set one of its steppers to a new speed
void	setTimeOutUs(int timeOutUs) Sets the time out value which is used to check if a request was acknowledged in the set time.

Methods inherited from class org.bluemelon.bluesense.Device

addDeviceEventListener, detect, getFirmwareVersion, getId, getType, getTypeName, isAccessible, removeDeviceEventListener

Methods inherited from class java.lang.Object

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

Field Detail

PROXY_TITLE

public static final java.lang.String PROXY_TITLE

PROXY_ID

public static final int PROXY_ID

SUPPORTS

public static final int[] SUPPORTS

Constructor Detail

StepperDevice

public StepperDevice(Master master,
                     int deviceId)

Creates a 'software' dc stepper device proxy with a given id. The device will inacessible until a physical device with the same id is detected.

Parameters:

master -

deviceId -

Method Detail

requestSetStepCount

public void requestSetStepCount(int speed,
                                int count)

Requests the stepper device to set one of its steppers to a new speed

Parameters:

speed - an uint8_t representing the new speed of the stepper. Note that each speed is a value between -128 and 127. -128 to -1 represent a speed left, 0 stand still and 1 to 127 a speed right, the actual physical speed depends on the specifications of the connected stepper.

count - if this value is not -1, the stepper motor will step the given number of 'count' steps before stopping

requestGetState

public void requestGetState()

getCurrentStepCount

public int getCurrentStepCount()

getPendingSpeed

public int getPendingSpeed()

Returns the speed of a specific stepper, which is currently underway to the device

Returns:

the speed to be set on the stepper.

getRequestSetSpeedDone

public boolean getRequestSetSpeedDone()

Checks if the speed set request is finished

Returns:

1 if request finished, 0 if request still busy

getCurrentSpeed

public int getCurrentSpeed()

Returns the current set speed of a specific stepper.

Parameters:

port - one of the port pin values. @see bsStepper_p1

Returns:

the speed off the stepper.

requestSetConfiguration

public void requestSetConfiguration(int current,
                                    boolean autoStop,
                                    boolean halfStep,
                                    boolean waveDrive,
                                    boolean fastDecay)

Requests setting a new configuration

Parameters:

current - in mA between 0 and 1500 mA. Warning: a wrong value can damage your motor.

autoStop - stops the motor if a connected limit switch is closed

halfStep - true --> half steps, false --> full steps

waveDrive - true --> wave Drive on (noise reduction)

fastDecay - true --> fast decay mode, false --> normal decay mode (noise reduction)

requestGetConfiguration

public void requestGetConfiguration()

getRequestSetConfigurationDone

public boolean getRequestSetConfigurationDone()

Checks if the configuration request is finished

Returns:

1 if request finished, 0 if request still busy

getRequestGetConfigurationDone

public boolean getRequestGetConfigurationDone()

getPendingConfigurationCurrent

public int getPendingConfigurationCurrent()

getPendingConfigurationAutoStop

public boolean getPendingConfigurationAutoStop()

getPendingConfigurationHalfStep

public boolean getPendingConfigurationHalfStep()

getPendingConfigurationWaveDrive

public boolean getPendingConfigurationWaveDrive()

getPendingConfigurationFastDecay

public boolean getPendingConfigurationFastDecay()

getConfigurationCurrent

public int getConfigurationCurrent()

getConfigurationAutoStop

public boolean getConfigurationAutoStop()

getConfigurationHalfStep

public boolean getConfigurationHalfStep()

getConfigurationWaveDrive

public boolean getConfigurationWaveDrive()

getConfigurationFastDecay

public boolean getConfigurationFastDecay()

getTimeOutUs

public long getTimeOutUs()

Returns the current set time out delay. The time out delay is used to check if a request was acknowledged in the set time. If an answer to a request is not received within the set time, the request is resent.

Returns:

the time out value in microseconds.

setTimeOutUs

public void setTimeOutUs(int timeOutUs)

Sets the time out value which is used to check if a request was acknowledged in the set time. If an answer to a request is not received within the set time, the request is resent.

Parameters:

timeOutUs - the value in microseconds which is the maximum duraion between a request and its answer.