cork.device.control
Class ContinuousRotationServo

java.lang.Object
  |
  +--cork.device.control.ContinuousRotationServo

All Implemented Interfaces:

Device, Motor, java.lang.Runnable

public class ContinuousRotationServo

extends java.lang.Object

implements java.lang.Runnable, Motor

Driver for Continuous Rotation Servos. Servos of this type have been modified so that they can rotate in a 360 degree circle continuously. They are often used in robotics for drive motors on small robots.

Version:

0.1.0

Author:

Brill Pappin

Field Summary

static int

PULSE_INTERVAL Description of the Field

Fields inherited from interface cork.device.Motor

DIRECTION_FORWARD, DIRECTION_REVERSE

Constructor Summary

ContinuousRotationServo(com.ajile.drivers.gpio.GpioPin pin)
Constructor for the ContinuousRotationServo object

Method Summary

void	destroy() Destroyes this object.
java.lang.String	getDeviceDestription() Gets the destription attribute of the Device object
java.lang.String	getDeviceName() Gets the title attribute of the Device object
int	getDirection() Get the direction the servo will rotate in.
int	getSpeed() Speed has no meaning in this context.
void	run() Main processing method for the ContinuousRotationServo object
void	setDirection(int direction) Sets the direction the servo will rotate in.
void	setSpeed(int speed) Speed has no meaning in this context.
void	start() Starts the servo rotating.
void	stop() Stops the servo rotating.

Methods inherited from class java.lang.Object

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

Field Detail

PULSE_INTERVAL

public static final int PULSE_INTERVAL

Description of the Field

Since:

0.1.0

Constructor Detail

ContinuousRotationServo

public ContinuousRotationServo(com.ajile.drivers.gpio.GpioPin pin)

Constructor for the ContinuousRotationServo object

Parameters:

pin - com.ajile.drivers.gpio.GpioPin the pin the servos control line is attached to (usually the white or orange wire).

Since:

0.1.0

Method Detail

destroy

public void destroy()

Destroyes this object. call this method if you want to remove this objects resources from the system, but are not shutting down the processor. If you are exiting teh processor, there is no need to call this method.

Since:

0.1.0

run

public void run()

Main processing method for the ContinuousRotationServo object

Specified by:

run in interface java.lang.Runnable

Since:

0.1.0

start

public void start()

Starts the servo rotating. The direction that the servo rotates depends on the properties of the object.

Specified by:

start in interface Motor

Since:

0.1.0

stop

public void stop()

Stops the servo rotating. The servo will still be viable after this call, and a call to start() will start the servo running again.

Specified by:

stop in interface Motor

Since:

0.1.0

getDirection

public int getDirection()

Get the direction the servo will rotate in. See: setDirection(int) for more info.

Specified by:

getDirection in interface Motor

Returns:

int the direction of rotation.

Since:

0.1.0

getDeviceName

public java.lang.String getDeviceName()

Gets the title attribute of the Device object

Specified by:

getDeviceName in interface Device

Returns:

The title value

Since:

0.1.0

getDeviceDestription

public java.lang.String getDeviceDestription()

Gets the destription attribute of the Device object

Specified by:

getDeviceDestription in interface Device

Returns:

The destription value

Since:

0.1.0

getSpeed

public int getSpeed()

Speed has no meaning in this context. This method does nothing.

Specified by:

getSpeed in interface Motor

Returns:

int The speed value

Since:

0.1.0

setDirection

public void setDirection(int direction)

Sets the direction the servo will rotate in.

Because the servo can be oriented in any way, it is impossible for this code to know ahead of time which direction is "forward" and which is "backward" the concepts do not apply at this level of abstraction.

For those who understand how servos work, setting a value of "forward" sends the control a long pulse, wehre setting the value to "reverse" sends a short pulse. Because we're dealing with a Continuous Rotation Servo we don't really care how long the long and short pulses are, we only care that they are above and below the center pulse length.

If you don't understand how servos work, look them up. Any search engine will give you data on them, and you can also find descriptions of how to modify a normal servo for continuous rotation.

Specified by:

setDirection in interface Motor

Parameters:

direction - int one of the direction constants from the Motor interface.

Since:

0.1.0

setSpeed

public void setSpeed(int speed)

Speed has no meaning in this context. This method does nothing.

Specified by:

setSpeed in interface Motor

Parameters:

speed - int The new speed value

Since:

0.1.0