br::ufrgs::ece::AIC::Host Class Reference
[AIC Hardware Interface]

Inheritance diagram for br::ufrgs::ece::AIC::Host:

[legend]List of all members.

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Detailed Description

Provides access to host computer through a derived class.

See also:

HostCAN

HostUDP

Author:

Walter Fetter Lages (w.fetter@ieee.org)

Public Member Functions
int	command () throws Exception
	Gets command received from host computer.
abstract int	command (byte[] args, int size) throws Exception
	Gets command received from host computer and its arguments array.
abstract void	sendStatus (double disp, int index) throws Exception
	Sends encoder displacement and sync-switch status to host.
abstract void	sendStatus (int disp, int index) throws Exception
	Sends encoder displacement and sync-switch status to host.
double	voltage ()
	Gets motor voltage.
double	reference ()
	Gets controller reference.
Static Public Attributes
final int	INVALID = 0x00
	Invalid command.
final int	RESET = 0x01
	AIC reset command.
final int	MOTOR_OFF = 0x02
	Motor off command.
final int	BRAKE_APPLY = 0x03
	Brake apply command.
final int	MOTOR_ACT = 0x10
	Motor actuate command.
final int	MOTOR_REF = 0x15
	Motor controller reference command.
final int	STATUS = 0x20
	Status message identifier.
final int	BRAKE_RELEASE = 0x30
	Brake release command.
final int	MOTOR_ON = 0x31
	Motor on command.
final int	USER0 = 0x3b
	User defined command 0.
final int	USER1 = 0x3c
	User defined command 1.
final int	USER2 = 0x3d
	User defined command 2.
final int	USER3 = 0x3e
	User defined command 3.
final int	NOP = 0x3f
	No operation command.
final int	INDEX_ON = 0x01
	Index on status.
final int	BUSY = 0x02
	Busy status.
Protected Attributes
double	u = 0
	Voltage aplied to motors.
double	ref = 0
	Reference for controller associated to motors.

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Member Function Documentation

abstract int br::ufrgs::ece::AIC::Host::command (  byte[]  args, int  size )  throws Exception [pure virtual]

Gets command received from host computer and its arguments array. Parameters: args  command arguments array. args[0] is the length of actual arguments. size  size of the arguments array Returns: command code Exceptions: Exception  depending on implementation Since: AIC-1.6.1 Implemented in br::ufrgs::ece::AIC::HostCAN, and br::ufrgs::ece::AIC::HostUDP.

int br::ufrgs::ece::AIC::Host::command (   )  throws Exception [inline]

Gets command received from host computer. Returns: command code Exceptions: Exception  depending on implementation

double br::ufrgs::ece::AIC::Host::reference (   )  [inline]

Gets controller reference. Returns: controller reference Since: AIC-1.6.0

abstract void br::ufrgs::ece::AIC::Host::sendStatus (  int  disp, int  index )  throws Exception [pure virtual]

Sends encoder displacement and sync-switch status to host. Parameters: disp  encoder displacement in pulses index  sync-switch status Exceptions: Exception  depending on implementation Implemented in br::ufrgs::ece::AIC::HostCAN, and br::ufrgs::ece::AIC::HostUDP.

abstract void br::ufrgs::ece::AIC::Host::sendStatus (  double  disp, int  index )  throws Exception [pure virtual]

Sends encoder displacement and sync-switch status to host. Parameters: disp  encoder displacement in rad index  sync-switch status Exceptions: Exception  depending on implementation Implemented in br::ufrgs::ece::AIC::HostCAN, and br::ufrgs::ece::AIC::HostUDP.

double br::ufrgs::ece::AIC::Host::voltage (   )  [inline]

Gets motor voltage. Returns: motor voltage

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The documentation for this class was generated from the following file:

• Host.java

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