shady.common.multi
Interface MemberShadyCommonAPI

All Superinterfaces:
ShadyCommonAPI
All Known Subinterfaces:
MemberShadySimAPI
All Known Implementing Classes:
MemberShadySim

public interface MemberShadyCommonAPI
extends ShadyCommonAPI

MemberShady API subset that is shared between the simulator and the hardware.

Copyright (C) 2006 Marsette A. Vona, III

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

Author:
Marsette (Marty) A. Vona, III

Field Summary
static java.lang.String cvsid
          .
 
Fields inherited from interface shady.common.ShadyCommonAPI
CLOSED_STATE, COLLISION, ESTOP, GRIPPER_CLOSE, GRIPPER_OPEN, GRIPPER_OPERATION_TARGET_STATE, IMPLEMENTATION_FAULT, LEFT, LOW_BATTERY, MOTION_LIMIT, OPEN_STATE, OVER_CURRENT, OVER_TEMP, RIGHT, TILT, TIMEOUT, UNALIGNED, UNKNOWN, WOULD_COLLIDE, WOULD_DUEL, WOULD_MOTION_LIMIT, WOULD_TILT
 
Method Summary
 boolean bothGrippersClosed()
          Check whether both grippers are closed.
 int getIndex()
          Get the zero-based index of this member in its MultiShady.
 MultiShadyCommonAPI getMultiShady()
          Get the MultiShady to which this MemberShady belongs.
 int setFault(int fault, java.lang.String details)
          Try to set a fault.
 void setIndex(int index)
          Set the zero-based index of this member in its MultiShady.
 void setMultiShady(MultiShadyCommonAPI multiShady)
          Set the MultiShady to which this MemberShady belongs.
 
Methods inherited from interface shady.common.ShadyCommonAPI
beginAccumulatingMotion, closeGripper, closeGripper, closeShade, endAccumulatingMotion, faultName, getAccountingInfo, getAccountingInfo, getBarrelAngle, getBarrelRotationLimit, getCenterToCenterDistance, getClock, getCurrentPower, getFault, getFault, getFaultDetails, getGripperState, getGripperWidth, getGripQuality, getName, getNumActiveActuators, getPose, getPose, getShadeAngle, getShadeOpenAngle, getState, getState, getTotalLength, isAccumulatingMotion, isGripperAligned, isGripperAligned, isGripperClosed, isGripperOpen, isNameSet, isShadeClosed, isShadeOpen, openGripper, openShade, pick, reset, resetAccounting, rotateBarrel, rotateBarrelTo, rotateShade, setName, setPose, setState, setWouldDuelOverride, setWouldTiltOverride, simultaneousMotion, stop
 

Field Detail

cvsid

static final java.lang.String cvsid
.

CVS id.

See Also:
Constant Field Values
Method Detail

setIndex

void setIndex(int index)

Set the zero-based index of this member in its MultiShady.

Parameters:
index - the zero-based index of this member in its MultiShady, or -1 to unset

getIndex

int getIndex()

Get the zero-based index of this member in its MultiShady.

Returns:
the zero-based index of this member in its MultiShady, or -1 if not set

setMultiShady

void setMultiShady(MultiShadyCommonAPI multiShady)

Set the MultiShady to which this MemberShady belongs.

Parameters:
multiShady - the MultiShady to which this MemberShady belongs, null to unset

getMultiShady

MultiShadyCommonAPI getMultiShady()

Get the MultiShady to which this MemberShady belongs.

Returns:
the MultiShady to which this MemberShady belongs, null if unset

bothGrippersClosed

boolean bothGrippersClosed()

Check whether both grippers are closed.

Returns:
true iff both grippers are closed

setFault

int setFault(int fault,
             java.lang.String details)

Try to set a fault.

Has no effect if there was an existing fault.

Parameters:
fault - the fault to set
details - the fault details
Returns:
the resulting fault state, either fault or the existing fault