brbrain
Class AXRegister

java.lang.Object
  brbrain.AXRegister

Direct Known Subclasses:

AX12Register, AXS1Register

public abstract class AXRegister
extends java.lang.Object

Represents the Dynamixel AX registers in a high-level way.

Multi-byte registers are handled as single values, write control and value clamping is provided, encoding and decoding from the 11 bit sign magnitude representation used by some AX-12 registers is handled, and translation to and from natural fractional units is included.

Copyright (C) 2008 Marsette A. Vona, III

Author:

Marsette (Marty) A. Vona, III

Field Summary

static int	E_ANGLE_LIMIT Dynamixel error bit (goal pos out of range)
static int	E_CHECKSUM Dynamixel error bit (comm failure)
static int	E_INPUT_VOLTAGE Dynamixel error bit
static int	E_INSTRUCTION Dynamixel error bit (invalid instruction)
static int	E_OVERHEATING Dynamixel error bit
static int	E_OVERLOAD Dynamixel error bit (insufficient torque)
static int	E_RANGE Dynamixel error bit (write parameter out of range)
int	max maximum valid write value of this register, if writeable
static int	MAX_DYNAMIXEL_ID maximum Dynamixel ID
int	min minimum valid write value of this register, if writeable
java.lang.String	naturalUnitsLabel human-readable label for the natural units, if any
float	naturalUnitsPerCount multiplier taking natural units to int register counts
int	ordinal zero-based index of this register in the register bank
java.lang.String	prettyName pretty human-readable register name
static int	RAM_START_ADDRESS start address of RAM
boolean	signMagnitude11Bit Whether this is a 2-byte little endian reg with a 10 bit magnitude and the sign in bit 11.
int	startAddr start (byte) address of this register in the AX-12 register space
private static java.lang.String	svnid
boolean	useNaturalUnitsByDefault whether to prefer natural or raw units by default
int	width byte width of this register
boolean	writeable whether this register can be written

Constructor Summary

protected	AXRegister(int ordinal, java.lang.String prettyName, int startAddr, int width, boolean signMagnitude11Bit, float naturalUnitsPerCount, java.lang.String naturalUnitsLabel, boolean useNaturalUnitsByDefault) read-only reg with all options
protected	AXRegister(int ordinal, java.lang.String prettyName, int startAddr, int width, int min, int max, boolean signMagnitude11Bit, float naturalUnitsPerCount, java.lang.String naturalUnitsLabel, boolean useNaturalUnitsByDefault) writeable reg with all options

Method Summary

int	check(float value) covers check(int), converts fromNaturalUnits(float)
int	check(int value) Check if an integer write value is within the closed interval [min, max].
static void	checkSpan(AXRegister start, int n) verify that (start, n) is a valid span of registers
float	clamp(float value) Covers clamp(int), converts fromNaturalUnits(float) and toNaturalUnits(int).
int	clamp(int value) Clamp an integer write value to the closed interval [min, max].
static boolean	containsReadOnlyRegs(AXRegister start, int n) check whether a span of registers contains any which are read-only
int	decode(int value) Encode an integer read value from the register bits.
static AXRegister[]	dup(AXRegister[] from, AXRegister[] to) Covers dup(AXRegister[], AXRegister[], int), copies all.
static AXRegister[]	dup(AXRegister[] from, AXRegister[] to, int n) duplicate first n element of from into to, reallocating as necessary
int	encode(int value) Encode an integer write value into the bits to write to the register.
static AXRegister[]	ensureCapacity(AXRegister[] a, int n) make sure a is at least length n
static java.lang.String	errorsToString(int errors) Covers errorsToString(int, StringBuffer)
static java.lang.StringBuffer	errorsToString(int errors, java.lang.StringBuffer buf) Compose a human-readable string of AX-12 errors from a Dynamixel error bitfield.
int	fromNaturalUnits(float value) Convert a register int value from natural units.
protected abstract java.lang.String	getDynamixelType() get an identifier for registers of this Dynamixel type
abstract int	getNumRegisters() get the total number of registers in this Dynamixel type
abstract AXRegister	getRelativeRegister(int offset) get the register with the given relative ordinal
static float	interp(float abscissa, float valueAtLowEnd, float abscissaAtLowEnd, float valueAtHighEnd, float abscissaAtHighEnd) Linearly interpolate between the points (abscissaAtLowEnd, valueAtLowEnd) and (abscissaAtHighEnd, valueAtHighEnd).
boolean	isBoolean() check if this is a boolean valued register
boolean	isRAM() true iff register is in RAM
AXRegister	nextRegister() get the next register after this one
AXRegister	prevRegister() get register before this one
static AXRegister[]	span(AXRegister start) covers span(AXRegister, int), spans till end
static AXRegister[]	span(AXRegister start, AXRegister[] span) covers span(AXRegister, int, AXRegister[]), spans till end
static AXRegister[]	span(AXRegister start, int n) covers span(AXRegister, int, AXRegister[]), always conses
static AXRegister[]	span(AXRegister start, int n, AXRegister[] span) Return span of n regs from start.
java.lang.String	toIdentifierString() returns the Java identifier for this register
float	toNaturalUnits(int value) Convert a register int value to natural units.
java.lang.String	toString() returns prettyName

Methods inherited from class java.lang.Object

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

Field Detail

svnid

private static final java.lang.String svnid

See Also:

Constant Field Values

MAX_DYNAMIXEL_ID

public static final int MAX_DYNAMIXEL_ID

maximum Dynamixel ID

See Also:

Constant Field Values

RAM_START_ADDRESS

public static final int RAM_START_ADDRESS

start address of RAM

See Also:

Constant Field Values

E_INPUT_VOLTAGE

public static final int E_INPUT_VOLTAGE

Dynamixel error bit

See Also:

Constant Field Values

E_ANGLE_LIMIT

public static final int E_ANGLE_LIMIT

Dynamixel error bit (goal pos out of range)

See Also:

Constant Field Values

E_OVERHEATING

public static final int E_OVERHEATING

Dynamixel error bit

See Also:

Constant Field Values

E_RANGE

public static final int E_RANGE

Dynamixel error bit (write parameter out of range)

See Also:

Constant Field Values

E_CHECKSUM

public static final int E_CHECKSUM

Dynamixel error bit (comm failure)

See Also:

Constant Field Values

E_OVERLOAD

public static final int E_OVERLOAD

Dynamixel error bit (insufficient torque)

See Also:

Constant Field Values

E_INSTRUCTION

public static final int E_INSTRUCTION

Dynamixel error bit (invalid instruction)

See Also:

Constant Field Values

ordinal

public final int ordinal

zero-based index of this register in the register bank

prettyName

public final java.lang.String prettyName

pretty human-readable register name

startAddr

public final int startAddr

start (byte) address of this register in the AX-12 register space

width

public final int width

byte width of this register

writeable

public final boolean writeable

whether this register can be written

min

public final int min

minimum valid write value of this register, if writeable

max

public final int max

maximum valid write value of this register, if writeable

naturalUnitsLabel

public final java.lang.String naturalUnitsLabel

human-readable label for the natural units, if any

useNaturalUnitsByDefault

public final boolean useNaturalUnitsByDefault

whether to prefer natural or raw units by default

signMagnitude11Bit

public final boolean signMagnitude11Bit

Whether this is a 2-byte little endian reg with a 10 bit magnitude and the sign in bit 11.

When the sign bit is set the value is interpreted as negative or clocwise.

naturalUnitsPerCount

public final float naturalUnitsPerCount

multiplier taking natural units to int register counts

Constructor Detail

AXRegister

protected AXRegister(int ordinal,
                     java.lang.String prettyName,
                     int startAddr,
                     int width,
                     int min,
                     int max,
                     boolean signMagnitude11Bit,
                     float naturalUnitsPerCount,
                     java.lang.String naturalUnitsLabel,
                     boolean useNaturalUnitsByDefault)

writeable reg with all options

AXRegister

protected AXRegister(int ordinal,
                     java.lang.String prettyName,
                     int startAddr,
                     int width,
                     boolean signMagnitude11Bit,
                     float naturalUnitsPerCount,
                     java.lang.String naturalUnitsLabel,
                     boolean useNaturalUnitsByDefault)

read-only reg with all options

Method Detail

checkSpan

public static void checkSpan(AXRegister start,
                             int n)

verify that (start, n) is a valid span of registers

containsReadOnlyRegs

public static boolean containsReadOnlyRegs(AXRegister start,
                                           int n)

check whether a span of registers contains any which are read-only

dup

public static AXRegister[] dup(AXRegister[] from,
                               AXRegister[] to,
                               int n)

duplicate first n element of from into to, reallocating as necessary

dup

public static AXRegister[] dup(AXRegister[] from,
                               AXRegister[] to)

Covers dup(AXRegister[], AXRegister[], int), copies all.

ensureCapacity

public static AXRegister[] ensureCapacity(AXRegister[] a,
                                          int n)

make sure a is at least length n

span

public static AXRegister[] span(AXRegister start,
                                int n,
                                AXRegister[] span)

Return span of n regs from start.

Span is returned in span iff it's big enough, else a new array.

If n is less than 0 then the span includes all subsequent registers.

span

public static AXRegister[] span(AXRegister start,
                                int n)

covers span(AXRegister, int, AXRegister[]), always conses

span

public static AXRegister[] span(AXRegister start,
                                AXRegister[] span)

covers span(AXRegister, int, AXRegister[]), spans till end

span

public static AXRegister[] span(AXRegister start)

covers span(AXRegister, int), spans till end

interp

public static float interp(float abscissa,
                           float valueAtLowEnd,
                           float abscissaAtLowEnd,
                           float valueAtHighEnd,
                           float abscissaAtHighEnd)

Linearly interpolate between the points (abscissaAtLowEnd, valueAtLowEnd) and (abscissaAtHighEnd, valueAtHighEnd).

errorsToString

public static final java.lang.StringBuffer errorsToString(int errors,
                                                          java.lang.StringBuffer buf)

Compose a human-readable string of AX-12 errors from a Dynamixel error bitfield.

Parameters:

errors - the bitpacked error value

buf - the buffer to append, or null to make one

Returns:

the buffer to which the string was appended

errorsToString

public static final java.lang.String errorsToString(int errors)

Covers errorsToString(int, StringBuffer)

isRAM

public boolean isRAM()

true iff register is in RAM

check

public int check(int value)

Check if an integer write value is within the closed interval [min, max].

Parameters:

value - the value to check

Returns:

-1 if value is too low, +1 if it's too high, 0 if it's ok

check

public int check(float value)

covers check(int), converts fromNaturalUnits(float)

clamp

public int clamp(int value)

Clamp an integer write value to the closed interval [min, max].

Parameters:

value - the value to clamp

Returns:

the clamped value

clamp

public float clamp(float value)

Covers clamp(int), converts fromNaturalUnits(float) and toNaturalUnits(int).

encode

public int encode(int value)

Encode an integer write value into the bits to write to the register.

Handles conversion to signMagnitude11Bit as appropriate.

Parameters:

value - the value to encode

Returns:

the encoded value

decode

public int decode(int value)

Encode an integer read value from the register bits.

Handles conversion from signMagnitude11Bit as appropriate.

Parameters:

value - the value to decode

Returns:

the decoded value

toNaturalUnits

public float toNaturalUnits(int value)

Convert a register int value to natural units.

Default impl just multiplies by naturalUnitsPerCount.

Parameters:

value - the int value to convert

Returns:

the value in natural units

fromNaturalUnits

public int fromNaturalUnits(float value)

Convert a register int value from natural units.

Default impl just divides by naturalUnitsPerCount.

Parameters:

value - the natural value to convert

Returns:

the value in int counts

isBoolean

public boolean isBoolean()

check if this is a boolean valued register

getRelativeRegister

public abstract AXRegister getRelativeRegister(int offset)

get the register with the given relative ordinal

getNumRegisters

public abstract int getNumRegisters()

get the total number of registers in this Dynamixel type

nextRegister

public AXRegister nextRegister()

get the next register after this one

prevRegister

public AXRegister prevRegister()

get register before this one

toString

public java.lang.String toString()

returns prettyName

Overrides:

toString in class java.lang.Object

getDynamixelType

protected abstract java.lang.String getDynamixelType()

get an identifier for registers of this Dynamixel type

toIdentifierString

public java.lang.String toIdentifierString()

returns the Java identifier for this register