org.cogchar.api.animoid.config.bonus

Class ServoChannelConfig

java.lang.Object

org.cogchar.api.animoid.config.bonus.ServoChannelConfig

All Implemented Interfaces:

Serializable

public class ServoChannelConfig
extends Object
implements Serializable

Author:

Stu B.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
int	defaultPos
boolean	inverted
int	logicalChannel
int	maxPos
int	minPos
int	physicalChannel
int	roboardChannel

Constructor Summary

Constructors

Constructor and Description
ServoChannelConfig()

Method Summary

Methods

Modifier and Type	Method and Description
static ServoChannelConfig[]	buildValidServoConfigArray(int[][] rawServoConf, int numChannels)
double	convertAbsServoIntToLopsidedFloat(int servoPos)
double	convertLopsidedFloatToROM(double lopsidedPos)
static ServoChannelConfig	findConfigForLogicalChannel(ServoChannelConfig[] configArray, int logicalChannel)
MuscleJoint	getMuscleJoint()
static ServoChannelConfig[]	readServoConfigFile(String filename, int maxChannels)

Methods inherited from class java.lang.Object

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

Field Detail

physicalChannel

public int physicalChannel

roboardChannel

public int roboardChannel

logicalChannel

public int logicalChannel

inverted

public boolean inverted

defaultPos

public int defaultPos

minPos

public int minPos

maxPos

public int maxPos

Constructor Detail

ServoChannelConfig

public ServoChannelConfig()

Method Detail

getMuscleJoint

public MuscleJoint getMuscleJoint()

readServoConfigFile

public static ServoChannelConfig[] readServoConfigFile(String filename,
                                       int maxChannels)
                                                throws Throwable

Throws:

Throwable

buildValidServoConfigArray

public static ServoChannelConfig[] buildValidServoConfigArray(int[][] rawServoConf,
                                              int numChannels)
                                                       throws Throwable

Throws:

Throwable

findConfigForLogicalChannel

public static ServoChannelConfig findConfigForLogicalChannel(ServoChannelConfig[] configArray,
                                             int logicalChannel)

convertAbsServoIntToLopsidedFloat

public double convertAbsServoIntToLopsidedFloat(int servoPos)

convertLopsidedFloatToROM

public double convertLopsidedFloatToROM(double lopsidedPos)
                                 throws Throwable

Throws:

Throwable