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

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

[legend]Collaboration diagram for br::ufrgs::ece::AIC::HostCAN:

[legend]List of all members.

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Detailed Description

Provides access host computer through CAN bus.

See also:

HostUDP

Author:

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

Public Member Functions
	HostCAN (int aicid, int bus) throws CanBusException
	Initializes HostCAN.
	HostCAN (int aicid) throws CanBusException
	Initializes HostCAN using CAN bus 0 as default.
void	finalize () throws CanBusException
	Finalizes HostCAN Exceptions: CanBusException  on CAN bus errors.
int	command (byte[] args, int size) throws CanBusException
	Gets command received from host computer.
void	sendStatus (double disp, int index) throws CanBusException
	Sends encoder displacement and sync-switch status to host.
void	sendStatus (int disp, int index) throws CanBusException
	Sends encoder displacement and sync-switch status to host.

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Constructor & Destructor Documentation

br::ufrgs::ece::AIC::HostCAN::HostCAN (  int  aicid, int  bus )  throws CanBusException [inline]

Initializes HostCAN. Parameters: aicid  AIC identification on bus from 1 to 31 bus  CAN bus to use 0 or 1 Exceptions: CanBusException  on CAN bus errors

br::ufrgs::ece::AIC::HostCAN::HostCAN (  int  aicid  )  throws CanBusException [inline]

Initializes HostCAN using CAN bus 0 as default. Parameters: aicid  AIC identification on bus from 1 to 31 Exceptions: CanBusException  on CAN bus errors

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Member Function Documentation

int br::ufrgs::ece::AIC::HostCAN::command (  byte[]  args, int  size )  throws CanBusException [inline, virtual]

Gets command received from host computer. Parameters: args  command arguments array. args[0] is the length of actual arguments. size  size of the arguments array Returns: command code Exceptions: CanBusException  on CAN bus errors Implements br::ufrgs::ece::AIC::Host.

void br::ufrgs::ece::AIC::HostCAN::sendStatus (  int  disp, int  index )  throws CanBusException [inline, virtual]

Sends encoder displacement and sync-switch status to host. Parameters: disp  encoder displacement in pulses index  sync-switch status Exceptions: CanBusException  on CAN bus errors Implements br::ufrgs::ece::AIC::Host.

void br::ufrgs::ece::AIC::HostCAN::sendStatus (  double  disp, int  index )  throws CanBusException [inline, virtual]

Sends encoder displacement and sync-switch status to host. Parameters: disp  encoder displacement in rad index  sync-switch status Exceptions: CanBusException  on CAN bus errors Implements br::ufrgs::ece::AIC::Host.

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

• HostCAN.java

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