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A B C D E F G H I J L M N O P R S T U V W

A

adcToVolts(int) - Static method in class brbrain.BRBrain
convert a raw ADC reading to V at the input of the 3.3k/10k divider
adcValue - Variable in class brbrain.BRBrain
most recently read raw 8-bit ADC values
adcValue - Variable in class brbrain.PoseGUI
most recently read CM-5 raw ADC values
addGUI(GUI) - Method in class brbrain.PoseGUI
hook for adding the main gui
addGUI(GUI) - Method in class brbrain.PoseSequenceGUI
adds the current actual pose gui with a titled border
addRemoveTask(GUI.RemoveTask) - Method in class brbrain.GUI
add a task to be called when the GUI is removed or frame closed
addTitledBorder(GUI, String) - Static method in class brbrain.GUI
Add a titled border to a GUI.
addTitledBorder(GUI) - Static method in class brbrain.GUI
covers GUI.addTitledBorder(GUI, String), uses gui name
addToRefreshList(PoseGUI) - Static method in class brbrain.PoseGUI
add a gui to the global refresh list
advancePose(PoseSequenceGUI, Pose, Pose, int, String, boolean, long) - Method in class brbrain.SequencePlaybackController
Called by SequencePlaybackController.startPlayback(brbrain.PoseSequenceGUI, brbrain.Pose, brbrain.Pose, int) and SequencePlaybackController.controlPlayback(brbrain.PoseSequenceGUI, brbrain.Pose, brbrain.Pose, int) to advance to the next pose.
applySpeedFactor() - Method in class brbrain.PoseSequenceGUI
Update the speed of the current actual pose from that of the current sequence pose, if any, according to PoseSequenceGUI.speedFactor.
AUTO_SYNC_THREAD_GRANULARITY_MS - Static variable in class brbrain.PoseGUI
update granularity of PoseGUI.autoSyncThread
autoSetSpeedCheckBox - Variable in class brbrain.PoseSequenceGUI
 
autoSync(BRBrain, int, boolean, boolean, boolean) - Method in class brbrain.PoseGUI
Initiate or change automatic periodic synchronization of this GUI with the hardware via an BRBrain.
autoSync(BRBrain) - Method in class brbrain.PoseGUI
Covers PoseGUI.autoSync(BRBrain, int, boolean, boolean, boolean), uses sync defaults.
autoSync(int) - Method in class brbrain.PoseGUI
Covers PoseGUI.autoSync(BRBrain, int, boolean, boolean, boolean), uses sync defaults.
autoSync() - Method in class brbrain.PoseGUI
Covers PoseGUI.autoSync(BRBrain, int, boolean, boolean, boolean), uses sync defaults.
autoSyncAddList - Static variable in class brbrain.PoseGUI
global auto sync add list
autoSyncBRBrain - Variable in class brbrain.PoseGUI
the BRBrain to auto sync, if any
autoSyncCheckBox - Variable in class brbrain.PoseGUI
auto sync box
autoSyncEnableWrite - Variable in class brbrain.PoseGUI
whether to enable write in auto sync
autoSyncEnableWriteCheckBox - Variable in class brbrain.PoseGUI
auto sync enable write box
autoSyncList - Static variable in class brbrain.PoseGUI
global auto sync list
autoSyncLock - Variable in class brbrain.PoseGUI
lock for changing auto sync params
autoSyncMinUpdatePeriodMS - Variable in class brbrain.PoseGUI
min period of auto sync
autoSyncMinUpdatePeriodMSField - Variable in class brbrain.PoseGUI
auto min update period field box
autoSyncSaveAndRestoreFormat - Variable in class brbrain.PoseGUI
whether to save and restore format in auto sync
autoSyncSaveAndRestoreFormatsCheckBox - Variable in class brbrain.PoseGUI
auto sync save/restore formats box
autoSyncSetFormats - Variable in class brbrain.PoseGUI
whether to set format in auto sync
autoSyncSetFormatsCheckBox - Variable in class brbrain.PoseGUI
auto sync set formats box
autoSyncThread - Static variable in class brbrain.PoseGUI
the auto sync daemon thread, if any
AX12_ALARM_LED - Static variable in class brbrain.AX12Register
bitmask of E_* constants to trigger the LED (RW)
AX12_ALARM_SHUTDOWN - Static variable in class brbrain.AX12Register
bitmask of E_* constants to trigger torque off (RW)
AX12_BAUD_RATE - Static variable in class brbrain.AX12Register
Dynamixel Baud Rate (RW), natural units [kbits/sec].
AX12_CCW_ANGLE_LIMIT - Static variable in class brbrain.AX12Register
counter-clockwise angle limit (RW), natural units [deg]
AX12_CCW_COMPLIANCE_MARGIN - Static variable in class brbrain.AX12Register
Counter-clockwise compliance margin (RW), natural units normalized to [0.0, 1.0].
AX12_CCW_COMPLIANCE_SLOPE - Static variable in class brbrain.AX12Register
Counter-clockwise compliance slope (RW), natural units normalized to [0.0, 1.0].
AX12_CW_ANGLE_LIMIT - Static variable in class brbrain.AX12Register
clockwise angle limit (RW), natural units [deg]
AX12_CW_COMPLIANCE_MARGIN - Static variable in class brbrain.AX12Register
Clockwise compliance margin (RW), natural units normalized to [0.0, 1.0].
AX12_CW_COMPLIANCE_SLOPE - Static variable in class brbrain.AX12Register
Clockwise compliance slope (RW), natural units normalized to [0.0, 1.0].
AX12_DOWN_CALIBRATION - Static variable in class brbrain.AX12Register
undocumented pot calibration (RO)
AX12_ERROR - Static variable in class brbrain.AX12Register
Virtual register containing the error status of the dynamixel (RO).
AX12_FIRMWARE_VERSION - Static variable in class brbrain.AX12Register
dynamixel firmware version (RO)
AX12_GOAL_POSITION - Static variable in class brbrain.AX12Register
Goal position (RW), natural units [deg].
AX12_HIGHEST_LIMIT_TEMPERATURE - Static variable in class brbrain.AX12Register
limit temp (RW), natural units [deg Celcius]
AX12_HIGHEST_LIMIT_VOLTAGE - Static variable in class brbrain.AX12Register
high limit voltage (RW), natural units [Volts]
AX12_ID - Static variable in class brbrain.AX12Register
dynamixel ID (RW)
AX12_LED - Static variable in class brbrain.AX12Register
direct LED control (RW), boolean, positive logic
AX12_LOCK - Static variable in class brbrain.AX12Register
Whether to restrict writing to registers AX12_TORQUE_ENABLE through AX12_TORQUE_LIMIT (RW), boolean.
AX12_LOWEST_LIMIT_VOLTAGE - Static variable in class brbrain.AX12Register
low limit voltage (RW), natural units [Volts]
AX12_MAX_TORQUE - Static variable in class brbrain.AX12Register
Maximum torque (RW), natural units normalized to [0.0, 1.0].
AX12_MODEL_NUMBER - Static variable in class brbrain.AX12Register
dynamixel model number (RO)
AX12_MOVING - Static variable in class brbrain.AX12Register
Whether the servo is currentl moving (RO), boolean
AX12_MOVING_SPEED - Static variable in class brbrain.AX12Register
Moving speed (RW), natural units [rev/min].
AX12_PRESENT_LOAD - Static variable in class brbrain.AX12Register
Current "load" (RO), natural units normalized to [0.0, 1.0].
AX12_PRESENT_POSITION - Static variable in class brbrain.AX12Register
Current position (RO), natural units [deg]
AX12_PRESENT_SPEED - Static variable in class brbrain.AX12Register
Current speed (RO), natural units [rev/min]
AX12_PRESENT_TEMPERATURE - Static variable in class brbrain.AX12Register
Current temperature (RO), natural units [degrees Celcius]
AX12_PRESENT_VOLTAGE - Static variable in class brbrain.AX12Register
Current voltage (RO), natural units [Volts]
AX12_PUNCH - Static variable in class brbrain.AX12Register
Initial current to apply after the position error has exceeded the compliance margin (RW), natural units normalized to [0.0, 1.0].
AX12_REGISTERED_INSTRUCTION - Static variable in class brbrain.AX12Register
Whether there is a registered instruction pending (RW), boolean
AX12_RETURN_DELAY_TIME - Static variable in class brbrain.AX12Register
Dynamixel return delay time (RW), natural units [usec].
AX12_STATUS_RETURN_LEVEL - Static variable in class brbrain.AX12Register
Dynamixel status return level (RW).
AX12_TORQUE_ENABLE - Static variable in class brbrain.AX12Register
enables torque generation (RW), boolean, positive logic
AX12_TORQUE_LIMIT - Static variable in class brbrain.AX12Register
See AX12_MAX_TORQUE
AX12_UP_CALIBRATION - Static variable in class brbrain.AX12Register
undocumented pot calibration (RO)
AX12Register - Class in brbrain
Represents the Dynamixel AX-12 registers in a high-level way.
AX12Register(int, String, int, int, int, int, boolean, float, String, boolean) - Constructor for class brbrain.AX12Register
writeable reg with all options
AX12Register(int, String, int, int, boolean, float, String, boolean) - Constructor for class brbrain.AX12Register
read-only reg with all options
AX12Register(int, String, int, int, int, int, float, String, boolean) - Constructor for class brbrain.AX12Register
writeable unsigned reg
AX12Register(int, String, int, int, int, int) - Constructor for class brbrain.AX12Register
writeable unsigned reg, natural units are counts
AX12Register(int, String, int, int, int, String, boolean) - Constructor for class brbrain.AX12Register
writeable unsigned 1-byte reg, natural units are counts
AX12Register(int, String, int, int, float, String, boolean) - Constructor for class brbrain.AX12Register
Read-only unsigned reg (be careful of confusion with AX12Register(int, String, int, int, int, String, boolean)).
AX12Register(int, String, int, int) - Constructor for class brbrain.AX12Register
read-only unsigned reg, natural units are counts
AX12Register(int, String, int, int, int, float, String, boolean) - Constructor for class brbrain.AX12Register
writeable unsigned 1-byte reg
AX12Register(int, String, int, int, int) - Constructor for class brbrain.AX12Register
writeable unsigned 1-byte reg, natural units are coutns
AX12Register(int, String, int, float, String, boolean) - Constructor for class brbrain.AX12Register
read-only unsigned 1-byte reg
AX12Register(int, String, int) - Constructor for class brbrain.AX12Register
read-only unsigned 1-byte reg, natural units are counts
axID - Variable in class brbrain.BRBrain
dynamixel ids in current BRBrain.F_READ and BRBrain.F_WRITE
axIDs - Variable in class brbrain.Pose
the set of axIDs; do not mutate
axIDs - Variable in class brbrain.PoseGUI
the set of dynamixelIDs; do not mutate
axIDs - Variable in class brbrain.PoseSequence
the set of axIDs; do not mutate
axIDToIndex - Variable in class brbrain.Pose
Unmodifiable inverse mapping of dynamixel id to dynamixel index, see Pose.values.
AXRegister - Class in brbrain
Represents the Dynamixel AX registers in a high-level way.
AXRegister(int, String, int, int, int, int, boolean, float, String, boolean) - Constructor for class brbrain.AXRegister
writeable reg with all options
AXRegister(int, String, int, int, boolean, float, String, boolean) - Constructor for class brbrain.AXRegister
read-only reg with all options
AXS1_BAUD_RATE - Static variable in class brbrain.AXS1Register
Dynamixel Baud Rate (RW), natural units [kbits/sec].
AXS1_BUZZER_INDEX - Static variable in class brbrain.AXS1Register
Buzzer note (RW).
AXS1_BUZZER_TIME - Static variable in class brbrain.AXS1Register
Buzzer duration, natural units [s] (RW).
AXS1_CENTER_IR_SENSOR_DATA - Static variable in class brbrain.AXS1Register
Center IR distance reading (RO).
AXS1_CENTER_LUMINOSITY - Static variable in class brbrain.AXS1Register
Center IR luminosity reading (RO).
AXS1_ERROR - Static variable in class brbrain.AXS1Register
Virtual register containing the error status of the dynamixel (RO).
AXS1_FIRMWARE_VERSION - Static variable in class brbrain.AXS1Register
dynamixel firmware version (RO)
AXS1_HIGHEST_LIMIT_TEMPERATURE - Static variable in class brbrain.AXS1Register
limit temp (RW), natural units [deg Celcius]
AXS1_HIGHEST_LIMIT_VOLTAGE - Static variable in class brbrain.AXS1Register
high limit voltage (RW), natural units [Volts]
AXS1_ID - Static variable in class brbrain.AXS1Register
dynamixel ID (RW)
AXS1_IR_REMOCON_ARRIVED - Static variable in class brbrain.AXS1Register
Remocon data is ready when value is 2 (RO).
AXS1_IR_REMOCON_RX_DATA - Static variable in class brbrain.AXS1Register
Value of received remocon data (RO).
AXS1_IR_REMOCON_TX_DATA - Static variable in class brbrain.AXS1Register
Remocon data to send (RW).
AXS1_LEFT_IR_SENSOR_DATA - Static variable in class brbrain.AXS1Register
Left IR distance reading (RO).
AXS1_LEFT_LUMINOSITY - Static variable in class brbrain.AXS1Register
Left IR luminosity reading (RO).
AXS1_LIGHT_DETECTED_COMPARE - Static variable in class brbrain.AXS1Register
IR detection threshold (RW).
AXS1_LIGHT_DETECTED_COMPARE_VALUE - Static variable in class brbrain.AXS1Register
Default for AXS1Register.AXS1_LIGHT_DETECTED_COMPARE (RW).
AXS1_LOCK - Static variable in class brbrain.AXS1Register
This appears to be an AX-12 vestige.
AXS1_LOWEST_LIMIT_VOLTAGE - Static variable in class brbrain.AXS1Register
low limit voltage (RW), natural units [Volts]
AXS1_LUMINOSITY_DETECTION_FLAG - Static variable in class brbrain.AXS1Register
IR luminosity detection bitmask, see AXS1Register.F_RIGHT, AXS1Register.F_CENTER, AXS1Register.F_LEFT (RO).
AXS1_MODEL_NUMBER - Static variable in class brbrain.AXS1Register
dynamixel model number (RO)
AXS1_OBSTACLE_DETECTED_COMPARE - Static variable in class brbrain.AXS1Register
IR obstacle detection threshold (RW).
AXS1_OBSTACLE_DETECTED_COMPARE_VALUE - Static variable in class brbrain.AXS1Register
Default for AXS1Register.AXS1_OBSTACLE_DETECTED_COMPARE (RW).
AXS1_OBSTACLE_DETECTION_FLAG - Static variable in class brbrain.AXS1Register
IR obstacle detection bitmask, see AXS1Register.F_RIGHT, AXS1Register.F_CENTER, AXS1Register.F_LEFT (RO).
AXS1_PRESENT_TEMPERATURE - Static variable in class brbrain.AXS1Register
Current temperature (RO), natural units [degrees Celcius]
AXS1_PRESENT_VOLTAGE - Static variable in class brbrain.AXS1Register
Current voltage (RO), natural units [Volts]
AXS1_REGISTERED_INSTRUCTION - Static variable in class brbrain.AXS1Register
Whether there is a registered instruction pending (RW), boolean
AXS1_RETURN_DELAY_TIME - Static variable in class brbrain.AXS1Register
Dynamixel return delay time (RW), natural units [usec].
AXS1_RIGHT_IR_SENSOR_DATA - Static variable in class brbrain.AXS1Register
Right IR distance reading (RO).
AXS1_RIGHT_LUMINOSITY - Static variable in class brbrain.AXS1Register
Right IR luminosity reading (RO).
AXS1_SOUND_DATA - Static variable in class brbrain.AXS1Register
Sound pressure (RW).
AXS1_SOUND_DATA_MAX_HOLD - Static variable in class brbrain.AXS1Register
Loudest sound pressure heard (RW).
AXS1_SOUND_DETECTED_COUNT - Static variable in class brbrain.AXS1Register
Recent count of loud sounds (RW).
AXS1_SOUND_DETECTED_TIME - Static variable in class brbrain.AXS1Register
Timestamp of most recent loud sound detection (RW), natrual units [ms].
AXS1_STATUS_RETURN_LEVEL - Static variable in class brbrain.AXS1Register
Dynamixel status return level (RW).
AXS1Register - Class in brbrain
Represents the Dynamixel AX-S1 registers in a high-level way.
AXS1Register(int, String, int, int, int, int, boolean, float, String, boolean) - Constructor for class brbrain.AXS1Register
writeable reg with all options
AXS1Register(int, String, int, int, boolean, float, String, boolean) - Constructor for class brbrain.AXS1Register
read-only reg with all options
AXS1Register(int, String, int, int, int, int, float, String, boolean) - Constructor for class brbrain.AXS1Register
writeable unsigned reg
AXS1Register(int, String, int, int, int, int) - Constructor for class brbrain.AXS1Register
writeable unsigned reg, natural units are counts
AXS1Register(int, String, int, int, int, String, boolean) - Constructor for class brbrain.AXS1Register
writeable unsigned 1-byte reg, natural units are counts
AXS1Register(int, String, int, int, float, String, boolean) - Constructor for class brbrain.AXS1Register
Read-only unsigned reg (be careful of confusion with AXS1Register.AXS1Register(int, String, int, int, int, String, boolean)).
AXS1Register(int, String, int, int) - Constructor for class brbrain.AXS1Register
read-only unsigned reg, natural units are counts
AXS1Register(int, String, int, int, int, float, String, boolean) - Constructor for class brbrain.AXS1Register
writeable unsigned 1-byte reg
AXS1Register(int, String, int, int, int) - Constructor for class brbrain.AXS1Register
writeable unsigned 1-byte reg, natural units are coutns
AXS1Register(int, String, int, float, String, boolean) - Constructor for class brbrain.AXS1Register
read-only unsigned 1-byte reg
AXS1Register(int, String, int) - Constructor for class brbrain.AXS1Register
read-only unsigned 1-byte reg, natural units are counts

B

BANNER - Static variable in class brbrain.BRBrainShell
startup banner
brbrain - package brbrain
Bioloid remote-brain Java library, associated CM-5 firmware, and related utilities.
BRBrain - Class in brbrain
Bioloid Remote Brain library.
BRBrain(String, int) - Constructor for class brbrain.BRBrain
Setup an BRBrain talking to a CM-5 on the specified serial port at the specified baud rate.
BRBrain(String) - Constructor for class brbrain.BRBrain
covers BRBrain.BRBrain(String, int) uses BRBrain.RXTX_DEF_BAUD_RATE
BRBrain(File) - Constructor for class brbrain.BRBrain
Same as BRBrain.BRBrain(String) but connect to CM-5 via a file instead of with RXTX.
brBrain - Variable in class brbrain.BRBrainShell
the BRBrain
BRBrain.CachedValue - Class in brbrain
a cached register value
BRBrain.CachedValue() - Constructor for class brbrain.BRBrain.CachedValue
 
BRBrain.Instruction - Enum in brbrain
BRBrain protocol packet instructions, see BRBrain class header doc for details.
BRBrain.Instruction(int) - Constructor for enum brbrain.BRBrain.Instruction
 
BRBrainShell - Class in brbrain
Bioloid Remote Brain scheme shell.
BRBrainShell(String, int) - Constructor for class brbrain.BRBrainShell
create a new shell maing a new BRBrain connected with RXTX
BRBrainShell(File) - Constructor for class brbrain.BRBrainShell
create a new shell maing a new BRBrain connected via a file
BRBrainShell(BRBrain) - Constructor for class brbrain.BRBrainShell
create a new shell on an existing BRBrain
BUZZER_MAX_DURATION - Static variable in class brbrain.AXS1Register
max duration for timed AXS1Register.AXS1_BUZZER_TIME in units of 0.1s
BUZZER_MELODY - Static variable in class brbrain.AXS1Register
special value for AXS1Register.AXS1_BUZZER_TIME
BUZZER_MIN_DURATION - Static variable in class brbrain.AXS1Register
min duration for timed AXS1Register.AXS1_BUZZER_TIME in units of 0.1s
BUZZER_START - Static variable in class brbrain.AXS1Register
special value for AXS1Register.AXS1_BUZZER_TIME
BUZZER_STOP - Static variable in class brbrain.AXS1Register
special value for AXS1Register.AXS1_BUZZER_TIME

C

cache - Variable in class brbrain.BRBrain
cache of most recently read data
CHANNEL_NEG - Static variable in class brbrain.BRBrain
ADC channel connected to the negative battery terminal
CHANNEL_POS - Static variable in class brbrain.BRBrain
ADC channel connected to the positive battery terminal
CHANNEL_THERM - Static variable in class brbrain.BRBrain
ADC channel connected to the thermistor
check(int) - Method in class brbrain.AXRegister
Check if an integer write value is within the closed interval [AXRegister.min, AXRegister.max].
check(float) - Method in class brbrain.AXRegister
covers AXRegister.check(int), converts AXRegister.fromNaturalUnits(float)
checkAXIDs(int[], int) - Static method in class brbrain.BRBrain
verify the first n dynamixel ids in the given array are unique
checkAXIDs(int[]) - Static method in class brbrain.BRBrain
covers BRBrain.checkAXIDs(int[], int), checks all
checkFmtSame(AXRegister[], int) - Method in class brbrain.BRBrain
ensure that all initial n elements of start are equal
checkFmtSame(int[], int) - Method in class brbrain.BRBrain
ensure that all initial n elements of num are equal
checkPose(Pose) - Method in class brbrain.PoseSequence
make sure that a pose has the correct format
checkSpan(AXRegister, int) - Static method in class brbrain.AXRegister
verify that (start, n) is a valid span of registers
checksum - Variable in class brbrain.BRBrain
checksum in progress
clamp(int) - Method in class brbrain.AXRegister
Clamp an integer write value to the closed interval [AXRegister.min, AXRegister.max].
clamp(float) - Method in class brbrain.AXRegister
Covers AXRegister.clamp(int), converts AXRegister.fromNaturalUnits(float) and AXRegister.toNaturalUnits(int).
close() - Method in class brbrain.BRBrain
close the serial port, no further comms possible
closeEnough(Pose, Pose) - Method in class brbrain.SequencePlaybackController
Compare AX12_PRESENT_POSITION of the current actual pose to the current sequence pose and return true iff their L-infinity norm (maximum element abs difference) is less than SequencePlaybackController.epsilon.
CM5_BOOTLOADER_BAUDRATE - Static variable in class brbrain.BRBrain
baudrate at which the CM-5 bootloader likes to talk
CM5_BOOTLOADER_MSG - Static variable in class brbrain.BRBrain
CM-5 bootloader welcome message
code - Variable in enum brbrain.BRBrain.Instruction
 
consEditable(AXRegister[], boolean) - Static method in class brbrain.PoseGUI
make up an editable array
containsReadOnlyRegs(AXRegister, int) - Static method in class brbrain.AXRegister
check whether a span of registers contains any which are read-only
controlPlayback(PoseSequenceGUI, Pose, Pose, int) - Method in class brbrain.SequencePlaybackController
Called by the PoseSequenceGUI to request control of playback.
currentIndexField - Variable in class brbrain.PoseSequenceGUI
 
currentSequenceIndex - Variable in class brbrain.PoseSequenceGUI
the current sequence pose index, zero based, or -1 if none
currentSequencePose - Variable in class brbrain.PoseSequenceGUI
the current sequence pose or null if none
currentSizeLabel - Variable in class brbrain.PoseSequenceGUI
 
cvsid - Static variable in class brbrain.BRBrainShell
 
cvsid - Static variable in class brbrain.GUI
 
cvsid - Static variable in class brbrain.Pose
 
cvsid - Static variable in class brbrain.PoseGUI
 
cvsid - Static variable in class brbrain.PoseSequence
 
cvsid - Static variable in class brbrain.PoseSequenceGUI
 
cvsid - Static variable in class brbrain.SequencePlaybackController
 

D

dbg(String, int) - Method in class brbrain.BRBrain
print a debug message for a byte
dbgLayout() - Method in class brbrain.GUI
show borders for key components down the tree
dbgLayout(Component[]) - Method in class brbrain.GUI
show borders for key components down the tree
debug - Variable in class brbrain.BRBrain
whether to show protocol debug messages
decode(int) - Method in class brbrain.AXRegister
Encode an integer read value from the register bits.
DEF_EPSILON - Static variable in class brbrain.SequencePlaybackController
default epsilon for SequencePlaybackController.closeEnough(brbrain.Pose, brbrain.Pose)
DEF_MOVING_SPEED - Static variable in class brbrain.PoseSequenceGUI
default PoseSequenceGUI.defaultMovingSpeed
DEF_MS_MORPH_TIME - Static variable in class brbrain.PoseSequenceGUI
default PoseSequenceGUI.msMorphTime
DEF_SYNC_ENABLE_WRITE - Static variable in class brbrain.PoseGUI
default for sync
DEF_SYNC_MIN_UPDATE_PERIOD_MS - Static variable in class brbrain.PoseGUI
default for sync
DEF_SYNC_SAVE_AND_RESTORE_FORMAT - Static variable in class brbrain.PoseGUI
default for sync
DEF_SYNC_SET_FORMAT - Static variable in class brbrain.PoseGUI
default for sync
DEF_TIMEOUT_MS - Static variable in class brbrain.BRBrain
default receive timout in ms
defaultMovingSpeed - Variable in class brbrain.PoseSequenceGUI
default moving speed for inserted poses
defaultMovingSpeedField - Variable in class brbrain.PoseSequenceGUI
 
defSyncBRBrain - Variable in class brbrain.PoseGUI
default sync BRBrain
defSyncEnableWrite - Variable in class brbrain.PoseGUI
default sync enable write
defSyncMinUpdatePeriodMS - Variable in class brbrain.PoseGUI
default sync min update period
defSyncSaveAndRestoreFormats - Variable in class brbrain.PoseGUI
default sync save and restore formats
defSyncSetFormats - Variable in class brbrain.PoseGUI
default sync set formats
didSync(Pose, BRBrain, boolean, boolean, boolean, boolean, int, long, long) - Method in class brbrain.PoseGUI
Hook called after each sync, while synchronized on PoseGUI.refreshLock and PoseGUI.pose.
didSync(Pose, BRBrain, boolean, boolean, boolean, boolean, int, long, long) - Method in class brbrain.PoseSequenceGUI
Calls SequencePlaybackController.controlPlayback(brbrain.PoseSequenceGUI, brbrain.Pose, brbrain.Pose, int) as necessary.
doEstop() - Method in class brbrain.PoseGUI
Attempt to estop all dynamixels that we know about.
drainFromCM5() - Method in class brbrain.BRBrain
drain BRBrain.fromCM5
dup(AXRegister[], AXRegister[], int) - Static method in class brbrain.AXRegister
duplicate first n element of from into to, reallocating as necessary
dup(AXRegister[], AXRegister[]) - Static method in class brbrain.AXRegister
Covers AXRegister.dup(AXRegister[], AXRegister[], int), copies all.
dup(int[], int[], int) - Static method in class brbrain.BRBrain
duplicate first n element of from into to, reallocating as necessary
dup(int[], int[]) - Static method in class brbrain.BRBrain
covers BRBrain.dup(int[], int[], int), copies all
dup(boolean[], boolean[], int) - Static method in class brbrain.BRBrain
duplicate first n element of from into to, reallocating as necessary
dup(boolean[], boolean[]) - Static method in class brbrain.BRBrain
covers BRBrain.dup(boolean[], boolean[], int), copies all
dup(String[], String[], int) - Static method in class brbrain.BRBrain
duplicate first n element of from into to, reallocating as necessary
dup(String[], String[]) - Static method in class brbrain.BRBrain
covers BRBrain.dup(String[], String[], int), copies all
DYNAMIXEL_TYPE - Static variable in class brbrain.AX12Register
the Dynamixel type identifier
DYNAMIXEL_TYPE - Static variable in class brbrain.AXS1Register
the Dynamixel type identifier
dynamixelBoxes - Variable in class brbrain.PoseGUI
the PoseGUI.DynamixelBoxes
dynamixelIndex - Variable in class brbrain.PoseGUI.DynamixelBox
the dynamixel index (not necessarily ID)
dynamixelIndex - Variable in class brbrain.PoseGUI.ValueBox
the dynamixel index (not necessarily ID) for which this is a value
dynamixelNames - Variable in class brbrain.PoseGUI
the names to display for each dynamixel

E

E_ANGLE_LIMIT - Static variable in class brbrain.AXRegister
Dynamixel error bit (goal pos out of range)
E_CHECKSUM - Static variable in class brbrain.AXRegister
Dynamixel error bit (comm failure)
E_INPUT_VOLTAGE - Static variable in class brbrain.AXRegister
Dynamixel error bit
E_INSTRUCTION - Static variable in class brbrain.AXRegister
Dynamixel error bit (invalid instruction)
E_OVERHEATING - Static variable in class brbrain.AXRegister
Dynamixel error bit
E_OVERLOAD - Static variable in class brbrain.AXRegister
Dynamixel error bit (insufficient torque)
E_RANGE - Static variable in class brbrain.AXRegister
Dynamixel error bit (write parameter out of range)
editable - Variable in class brbrain.PoseGUI.ValueBox
whether this value is editable
edited - Variable in class brbrain.PoseGUI.ValueBox
if this value has been edited and not yet synced to the hardware
enableRecvPacketDebug - Variable in class brbrain.BRBrain
whether to enable debug log of failed recv packets
enableWriteCheckBox - Variable in class brbrain.PoseGUI
manual sync enable write box
encode(int) - Method in class brbrain.AXRegister
Encode an integer write value into the bits to write to the register.
endRecvPacket() - Method in class brbrain.BRBrain
end an incoming packet, validating checksum
endSendPacket() - Method in class brbrain.BRBrain
end an outgoing packet, sending checksum
ensureCapacity(AXRegister[], int) - Static method in class brbrain.AXRegister
make sure a is at least length n
ensureCapacity(int[], int) - Static method in class brbrain.BRBrain
make sure a is at least length n
ensureCapacity(boolean[], int) - Static method in class brbrain.BRBrain
make sure a is at least length n
ensureCapacity(String[], int) - Static method in class brbrain.BRBrain
make sure a is at least length n
epsilon - Variable in class brbrain.SequencePlaybackController
the epsilon for SequencePlaybackController.closeEnough(brbrain.Pose, brbrain.Pose)
epsilonEquals(int, int) - Method in class brbrain.SequencePlaybackController
Check if the absolute difference between p and q is less than SequencePlaybackController.epsilon.
errorsToString(int, StringBuffer) - Static method in class brbrain.AXRegister
Compose a human-readable string of AX-12 errors from a Dynamixel error bitfield.
errorsToString(int) - Static method in class brbrain.AXRegister
Covers AXRegister.errorsToString(int, StringBuffer)
estopButton - Variable in class brbrain.PoseGUI
the estop button, if any
expectedDeadlineNS - Variable in class brbrain.SequencePlaybackController
the expected deadline of the current pose morph

F

F_CENTER - Static variable in class brbrain.AXS1Register
obstacle or luminosity detection flag
F_LEFT - Static variable in class brbrain.AXS1Register
obstacle or luminosity detection flag
F_READ - Static variable in class brbrain.BRBrain
read format
F_RIGHT - Static variable in class brbrain.AXS1Register
obstacle or luminosity detection flag
F_WRITE - Static variable in class brbrain.BRBrain
write format
finalize() - Method in class brbrain.BRBrain
BRBrain.close()s
FIRST_RAM_REGISTER - Static variable in class brbrain.AX12Register
first register in RAM
FIRST_RAM_REGISTER - Static variable in class brbrain.AXS1Register
first register in RAM
FIRST_REGISTER - Static variable in class brbrain.AX12Register
first register in RAM
FIRST_REGISTER - Static variable in class brbrain.AXS1Register
first register in RAM
FLASH_DELAY_MS - Static variable in class brbrain.BRBrain
delay between stages of the BRBrain.flashCM5(java.io.InputStream, java.io.PrintStream) procedure
FLASH_TIMEOUT_MS - Static variable in class brbrain.BRBrain
timeout for response from the CM-5 during BRBrain.flashCM5(java.io.InputStream, java.io.PrintStream)
flashCM5(InputStream, PrintStream) - Method in class brbrain.BRBrain
Interact with the user and the CM-5 bootloader to flash new firmware to the CM-5.
flashCM5(File, PrintStream) - Method in class brbrain.BRBrain
covers BRBrain.flashCM5(InputStream, PrintStream)
flashCM5(String, PrintStream) - Method in class brbrain.BRBrain
covers BRBrain.flashCM5(File, PrintStream)
flashCM5(String) - Method in class brbrain.BRBrain
covers BRBrain.flashCM5(String, PrintStream), uses System.out
floatFormat - Variable in class brbrain.PoseGUI
format a float with two decimal digits
FMT_INSTRUCTION - Static variable in class brbrain.BRBrain
set format instructions
formatPose - Variable in class brbrain.PoseSequence
a dummy pose giving the format
fromCM5 - Variable in class brbrain.BRBrain
input stream from CM-5
fromNaturalUnits(float) - Method in class brbrain.AXRegister
Convert a register int value from natural units.

G

getADC(int) - Method in class brbrain.BRBrain
get the most recent ADC reading for the given channel
getAllRegisters(AX12Register[], int) - Static method in class brbrain.AX12Register
get a copy of the ordered array of AX12Registers
getAllRegisters(AX12Register[]) - Static method in class brbrain.AX12Register
covers getAllRegisters(AX12Register[], int), starts at 0
getAllRegisters() - Static method in class brbrain.AX12Register
covers getAllRegisters(AX12Register[], int), always conses
getAllRegisters(AXS1Register[], int) - Static method in class brbrain.AXS1Register
get a copy of the ordered array of AXS1Registers
getAllRegisters(AXS1Register[]) - Static method in class brbrain.AXS1Register
covers AXS1Register.getAllRegisters(AXS1Register[], int), starts at 0
getAllRegisters() - Static method in class brbrain.AXS1Register
covers AXS1Register.getAllRegisters(AXS1Register[], int), always conses
getCachedValue(int, AXRegister) - Method in class brbrain.BRBrain
Look up the most recent BRBrain.CachedValue of of the specified reg, null if none.
getCalibratedStiffness(int, float) - Static method in class brbrain.AX12Register
Get the stiffness of an AX-12 actuator in units of kg*cm/deg.
getCalibratedStiffness(int) - Static method in class brbrain.AX12Register
Covers getCalibratedStiffness(int, float), uses NOMINAL_BATTERY_VOLTAGE.
getCurrentSequenceIndex() - Method in class brbrain.PoseSequenceGUI
get current sequence index or -1 if none
getCurrentSequencePose() - Method in class brbrain.PoseSequenceGUI
get current sequence pose or null if none
getDefaultMovingSpeed() - Method in class brbrain.PoseSequenceGUI
get the default moving speed for inserted poses
getDynamixelType() - Method in class brbrain.AX12Register
returns DYNAMIXEL_TYPE
getDynamixelType() - Method in class brbrain.AXRegister
get an identifier for registers of this Dynamixel type
getDynamixelType() - Method in class brbrain.AXS1Register
returns AXS1Register.DYNAMIXEL_TYPE
getFirst() - Method in class brbrain.PoseSequence
get the first pose in the sequence, NoSuchElement exception if empty
getFirstRAMRegister() - Static method in class brbrain.AX12Register
get the FIRST_RAM_REGISTER
getFirstRAMRegister() - Static method in class brbrain.AXS1Register
get the AXS1Register.FIRST_RAM_REGISTER
getFirstRegister() - Static method in class brbrain.AX12Register
get the FIRST_REGISTER
getFirstRegister() - Static method in class brbrain.AXS1Register
get the AXS1Register.FIRST_REGISTER
getFormat(int, int[], AXRegister[], int[]) - Method in class brbrain.BRBrain
Common impl of BRBrain.getReadFormat(int[], brbrain.AXRegister[], int[]) and BRBrain.getWriteFormat(int[], brbrain.AXRegister[], int[]).
getLast() - Method in class brbrain.PoseSequence
get the last pose in the sequence, NoSuchElement exception if empty
getLastUpdateNS() - Method in class brbrain.BRBrain.CachedValue
get the last update nanotime
getMSMorphTime() - Method in class brbrain.PoseSequenceGUI
get the morph time in milliseconds for inserted poses
getMSMorphTimeFrom(Pose) - Method in class brbrain.Pose
Compute the expected morph time in milliseconds starting from otherPose.
getNumReadDynamixels() - Method in class brbrain.BRBrain
get the number of dynamixels in the current read format
getNumRegisters() - Method in class brbrain.AX12Register
get the total number of AX12Registers
getNumRegisters() - Method in class brbrain.AXRegister
get the total number of registers in this Dynamixel type
getNumRegisters() - Method in class brbrain.AXS1Register
get the total number of AXS1Registers
getNumWriteDynamixels() - Method in class brbrain.BRBrain
get the number of dynamixels in the current write format
getPose() - Method in class brbrain.PoseGUI
Get a reference to the current PoseGUI.pose, internally synchronized with PoseGUI.setPose(brbrain.Pose).
getReadFormat(int[], AXRegister[], int[]) - Method in class brbrain.BRBrain
Get a copy of the most recently BRBrain.setReadFormat(int[], brbrain.AXRegister[], int[]), see which.
getReadFormat() - Method in class brbrain.BRBrain
Covers BRBrain.getReadFormat(int[], brbrain.AXRegister[], int[]), uses BRBrain.packFormat(int, int[], brbrain.AXRegister[], int[]), for jscheme API convenience.
getRegister(int) - Static method in class brbrain.AX12Register
get the AX12Register at the specified ordinal
getRegister(int) - Static method in class brbrain.AXS1Register
get the AXS1Register at the specified ordinal
getRegisterValue(int, AXRegister) - Method in class brbrain.Pose
read a register value safely
getRelativeRegister(int) - Method in class brbrain.AX12Register
get the register with the given relative ordinal
getRelativeRegister(int) - Method in class brbrain.AXRegister
get the register with the given relative ordinal
getRelativeRegister(int) - Method in class brbrain.AXS1Register
get the register with the given relative ordinal
getSpeedFactor() - Method in class brbrain.PoseSequenceGUI
get the current speed factor
getSyncStats() - Method in class brbrain.PoseGUI
Get a stats report on all PoseGUI.sync(BRBrain, boolean, boolean, boolean) till now.
getTimeoutMS() - Method in class brbrain.BRBrain
get the current timeout for a response from the CM-5 in ms
getTotalNumReadRegs() - Method in class brbrain.BRBrain
get the total number of registers in the current read format
getTotalNumWriteRegs() - Method in class brbrain.BRBrain
get the total number of registers in the current write format
getValue() - Method in class brbrain.BRBrain.CachedValue
get the cached value
getWriteFormat(int[], AXRegister[], int[]) - Method in class brbrain.BRBrain
Get a copy of the most recently BRBrain.setWriteFormat(int[], brbrain.AXRegister[], int[]), see which.
getWriteFormat() - Method in class brbrain.BRBrain
Covers BRBrain.getWriteFormat(int[], brbrain.AXRegister[], int[]), uses BRBrain.packFormat(int, int[], brbrain.AXRegister[], int[]), for jscheme API convenience.
GUI - Class in brbrain
GUI component base class.
GUI(int) - Constructor for class brbrain.GUI
create a new gui component
GUI.RemoveTask - Interface in brbrain
interface for GUI.addRemoveTask(brbrain.GUI.RemoveTask)

H

handleEdit(String) - Method in class brbrain.PoseGUI.ValueBox
deal with a user edit
handleEditAutoSync() - Method in class brbrain.PoseGUI
handle edits to the auto sync GUI
handleEditCurrentIndex(String) - Method in class brbrain.PoseSequenceGUI
handle edits to current index field
handleEditDefaultMovingSpeed(String) - Method in class brbrain.PoseSequenceGUI
handle edits to default moving speed field
handleEditMorphTime(String) - Method in class brbrain.PoseSequenceGUI
handle edits to morph time field
handleEditSpeedFactor(String) - Method in class brbrain.PoseSequenceGUI
handle edits to speed factor field
hasNextPose() - Method in class brbrain.PoseSequenceGUI
check if there are more poses after the current one in the sequence
hasPreviousPose() - Method in class brbrain.PoseSequenceGUI
check if there are more poses before the current one in the sequence

I

initJScheme() - Method in class brbrain.BRBrainShell
initialize JScheme
insAfterButton - Variable in class brbrain.PoseSequenceGUI
 
insBeforeButton - Variable in class brbrain.PoseSequenceGUI
 
insertPose(Pose) - Method in class brbrain.PoseSequenceGUI
common insert impl
insertPoseAfter() - Method in class brbrain.PoseSequenceGUI
Inserts the current actual pose as a new pose in the sequence after the current sequence pose (or as the first in the sequence).
insertPoseBefore() - Method in class brbrain.PoseSequenceGUI
similar to PoseSequenceGUI.insertPoseAfter()
interp(float, float, float, float, float) - Static method in class brbrain.AX12Register
Linearly interpolate between the points (abscissaAtLowEnd, valueAtLowEnd) and (abscissaAtHighEnd, valueAtHighEnd).
interp(float, float, float, float, float) - Static method in class brbrain.AXRegister
Linearly interpolate between the points (abscissaAtLowEnd, valueAtLowEnd) and (abscissaAtHighEnd, valueAtHighEnd).
isBoolean() - Method in class brbrain.AXRegister
check if this is a boolean valued register
isEmpty() - Method in class brbrain.PoseSequence
check if the sequence is empty
isPlaying() - Method in class brbrain.PoseSequenceGUI
check if in play mode
isRAM() - Method in class brbrain.AXRegister
true iff register is in RAM

J

js - Variable in class brbrain.BRBrainShell
the JScheme interpreter

L

lastFrame - Static variable in class brbrain.GUI
most recently created frame
lastSyncStartTimeMS - Variable in class brbrain.PoseGUI
start time of latest sync
lastSyncTimeMS - Variable in class brbrain.PoseGUI
latest sync transaction duration
lastUpdateNS - Variable in class brbrain.BRBrain.CachedValue
the last update nanotime
lastUpdatePeriodMS - Variable in class brbrain.PoseGUI
latest time between syncs
listIterator() - Method in class brbrain.PoseSequence
get an iterator
listIterator(int) - Method in class brbrain.PoseSequence
get an iterator starting at the given zero-based index
listPorts(PrintStream) - Static method in class brbrain.BRBrain
Convenience method to query the list of available ports according to RXTX.
listPorts() - Static method in class brbrain.BRBrain
covers BRBrain.listPorts(PrintStream), uses System.out
loadJSchemeFile(String) - Method in class brbrain.BRBrainShell
load a scheme file in the interpreter

M

main(String[]) - Static method in class brbrain.BRBrainShell
command line driver, see BRBrainShell.USAGE
makeIDs(int, int) - Static method in class brbrain.Pose
Makes a contiguous array of ids in the range [firstAXID, lastAXID].
makeSplitLabel(String) - Static method in class brbrain.GUI
make an array of labels up to GUI.MAX_SPLIT_LABEL_CHARS each
max - Variable in class brbrain.AXRegister
maximum valid write value of this register, if writeable
MAX_DYNAMIXEL_ID - Static variable in class brbrain.AXRegister
maximum Dynamixel ID
MAX_DYNAMIXELS - Static variable in class brbrain.BRBrain
maximum number of dynamixels in a format
MAX_SPLIT_LABEL_CHARS - Static variable in class brbrain.GUI
max number of chars in a split label
min - Variable in class brbrain.AXRegister
minimum valid write value of this register, if writeable
morphTimeField - Variable in class brbrain.PoseSequenceGUI
 
MOVING_SPEED_TO_COUNTS_PER_MS - Static variable in class brbrain.AX12Register
Multiplication factor taking AX12_MOVING_SPEED raw value to position counts per millisecond.
msMorphTime - Variable in class brbrain.PoseSequenceGUI
current morph time in milliseconds for inserted poses

N

naturalUnitsLabel - Variable in class brbrain.AXRegister
human-readable label for the natural units, if any
naturalUnitsPerCount - Variable in class brbrain.AXRegister
multiplier taking natural units to int register counts
negVoltageLabel - Variable in class brbrain.PoseGUI
negative battery voltage label
nextButton - Variable in class brbrain.PoseSequenceGUI
 
nextOrdinal - Static variable in class brbrain.AX12Register
next register ordinal during class init
nextOrdinal - Static variable in class brbrain.AXS1Register
next register ordinal during class init
nextPose() - Method in class brbrain.PoseSequenceGUI
Move to the next pose in the sequence.
nextRegister() - Method in class brbrain.AXRegister
get the next register after this one
NOMINAL_BATTERY_VOLTAGE - Static variable in class brbrain.AX12Register
nominal battery voltage in Volts (8xNiMH) = (8x1.2V) = 9.6V
NUM_REGISTERS - Static variable in class brbrain.AX12Register
total number of registers
NUM_REGISTERS - Static variable in class brbrain.AXS1Register
total number of registers
numDynamixels - Variable in class brbrain.BRBrain
num dynamixels in current BRBrain.F_READ and BRBrain.F_WRITE
numDynamixels - Variable in class brbrain.PoseGUI
the number of dynamixels in PoseGUI.pose
numReg - Variable in class brbrain.BRBrain
num regs in current BRBrain.F_READ and BRBrain.F_WRITE
numRegisters - Variable in class brbrain.PoseGUI
the number of registers in PoseGUI.pose
numSyncs - Variable in class brbrain.PoseGUI
total number of syncs so far

O

ordinal - Variable in class brbrain.AXRegister
zero-based index of this register in the register bank
otherAxis(int) - Static method in class brbrain.GUI
get the other axis of a box layout X or Y axis

P

packFormat(int, int[], AXRegister[], int[]) - Method in class brbrain.BRBrain
Pack read or write format from a contiguous array, for convienience of the scheme API.
parseFormatArgs(Object[]) - Method in class brbrain.BRBrain
Parse read or write format from a contiguous array, for jscheme API convienience.
pauseButton - Variable in class brbrain.PoseSequenceGUI
 
peekNextPose() - Method in class brbrain.PoseSequenceGUI
return the next pose, null if none, but don't change to it
peekPreviousPose() - Method in class brbrain.PoseSequenceGUI
return the previous pose, null if none, but don't change to it
pingCM5() - Method in class brbrain.BRBrain
covers BRBrain.pingDynamixel(int), uses id 255 to ping the CM-5 itself
pingDynamixel(int) - Method in class brbrain.BRBrain
Issue BRBrain.Instruction.I_PING packet requesting ping of the indicated dynamixel.
playbackController - Variable in class brbrain.PoseSequenceGUI
our sequence playback controller
playButton - Variable in class brbrain.PoseSequenceGUI
 
playing - Variable in class brbrain.PoseSequenceGUI
whether we're currently in play mode
Pose - Class in brbrain
Bioloid pose.
Pose(Pose, boolean) - Constructor for class brbrain.Pose
make a pose with same format and maybe Pose.values as another
Pose(Pose) - Constructor for class brbrain.Pose
covers Pose.Pose(Pose, boolean), always copies Pose.values
Pose(int[], AXRegister[], AXRegister, int) - Constructor for class brbrain.Pose
See class header doc.
Pose(int[], AXRegister[]) - Constructor for class brbrain.Pose
see class header doc; uses default write span
Pose(int, int, AXRegister[], AXRegister, int) - Constructor for class brbrain.Pose
see class header doc
Pose(int, int, AXRegister[]) - Constructor for class brbrain.Pose
see class header doc; uses default write span
pose - Variable in class brbrain.PoseGUI
the Pose reference, synchronized by PoseGUI.poseLock
Pose.PoseTokenizer - Class in brbrain
specialized tokenizer for poses, see Pose class header doc
Pose.PoseTokenizer(InputStream) - Constructor for class brbrain.Pose.PoseTokenizer
 
PoseGUI - Class in brbrain
Dynamixel GUI component for a Pose.
PoseGUI(Pose, int, String[], boolean, boolean[], boolean, boolean, boolean, boolean) - Constructor for class brbrain.PoseGUI
make a gui for an existing Pose
PoseGUI(int[], AXRegister[], AXRegister, int, int, String[], boolean, boolean[], boolean, boolean, boolean, boolean) - Constructor for class brbrain.PoseGUI
make a gui with a new Pose
PoseGUI(int[], AXRegister[], AXRegister, int, int, String[], boolean, boolean, boolean, boolean, boolean, boolean) - Constructor for class brbrain.PoseGUI
make a gui where everything is either editable or not
PoseGUI(int, AXRegister[], AXRegister, int, int, String, boolean, boolean, boolean, boolean, boolean, boolean) - Constructor for class brbrain.PoseGUI
make a GUI for one dynamixel
PoseGUI.DynamixelBox - Class in brbrain
displays a dynamixel name and PoseGUI.ValueBoxes
PoseGUI.DynamixelBox(int) - Constructor for class brbrain.PoseGUI.DynamixelBox
see class header doc
PoseGUI.RegisterNameBox - Class in brbrain
shows register names and units
PoseGUI.RegisterNameBox() - Constructor for class brbrain.PoseGUI.RegisterNameBox
see class header doc
PoseGUI.ValueBox - Class in brbrain
A box containing the numeric value of a dynamixel register, either in raw or natural units according to PoseGUI.useNaturalUnits.
PoseGUI.ValueBox(int, AXRegister, boolean) - Constructor for class brbrain.PoseGUI.ValueBox
see header doc
poseLock - Variable in class brbrain.PoseGUI
lock for changing the pose reference
poses - Variable in class brbrain.PoseSequence
the poses
PoseSequence - Class in brbrain
Sequence of Bioloid Poses.
PoseSequence(int[], AXRegister[], AXRegister, int) - Constructor for class brbrain.PoseSequence
make a new empty sequence with the given format
poseSequence - Variable in class brbrain.PoseSequenceGUI
the sequence
PoseSequenceGUI - Class in brbrain
GUI for PoseSequences.
PoseSequenceGUI(PoseSequence, int, String[], boolean, boolean[], boolean, boolean, boolean, boolean) - Constructor for class brbrain.PoseSequenceGUI
Make a new GUI for an existing sequence.
PoseSequenceGUI(PoseSequence, int, String[], boolean, boolean, boolean, boolean, boolean, boolean) - Constructor for class brbrain.PoseSequenceGUI
make a gui where everything is either editable or not
posVoltageLabel - Variable in class brbrain.PoseGUI
positive battery voltage label
PRESERVE_SPEED_POSITION_EPSILON - Static variable in class brbrain.Pose
Position difference below which to preserve previous speed in Pose.setMovingSpeedFrom(brbrain.Pose, int).
prettyName - Variable in class brbrain.AXRegister
pretty human-readable register name
prevButton - Variable in class brbrain.PoseSequenceGUI
 
previousPose() - Method in class brbrain.PoseSequenceGUI
Move to the previous pose in the sequence.
prevRegister() - Method in class brbrain.AXRegister
get register before this one
PROMPT - Static variable in class brbrain.BRBrainShell
shell prompt

R

RAM_START_ADDRESS - Static variable in class brbrain.AXRegister
start address of RAM
RBRAIN_SHELL_API - Static variable in class brbrain.BRBrainShell
the scheme bindings for the api
RBRAIN_SHELL_EXTRA - Static variable in class brbrain.BRBrainShell
the scheme bindings for the extra stuff
read() - Method in class brbrain.BRBrain
Read int register values and CM-5 status into an array, for jscheme API convenience.
read(float[]) - Method in class brbrain.BRBrain
Read data from dynamixels in natural units according to the current read format.
read(int[]) - Method in class brbrain.BRBrain
same as BRBrain.read(float[]) but reads register ints directly
read(Object) - Method in class brbrain.BRBrain
common impl of BRBrain.read(float[]) and BRBrain.read(int[])
readAXIDSave - Variable in class brbrain.PoseGUI
saved read format dynamixel IDs
readFrom(Pose) - Method in class brbrain.Pose
read Pose.values from other pose
readFrom(int[], int) - Method in class brbrain.Pose
Gather Pose.values from an BRBrain read block; see class header doc.
readFrom(int[]) - Method in class brbrain.Pose
covers Pose.readFrom(int[], int), starts at 0
readFrom(Pose.PoseTokenizer) - Method in class brbrain.Pose
Parse Pose.values in lisp sexp format.
readFrom(InputStream) - Method in class brbrain.Pose
covers Pose.readFrom(PoseTokenizer), conses the tokenizer
readFrom(Pose.PoseTokenizer, AXRegister, int[]) - Method in class brbrain.Pose
parse one register list
readFrom(Pose.PoseTokenizer) - Method in class brbrain.PoseSequence
Clear current sequence and read all PoseSequence.poses in the format Pose.readFrom(brbrain.Pose) expects.
readFrom(InputStream) - Method in class brbrain.PoseSequence
covers PoseSequence.readFrom(Pose.PoseTokenizer), conses the tokenizer
readLengthSave - Variable in class brbrain.PoseGUI
saved read format lengths
readNatural() - Method in class brbrain.BRBrain
Read natural register values and CM-5 status into an array, for jscheme API convenience.
readNum - Variable in class brbrain.Pose
the number of regs in the BRBrain read format
readNum - Variable in class brbrain.PoseGUI
the number of regs in the BRBrain read format
readNum - Variable in class brbrain.PoseSequence
the number of regs in the BRBrain read format
readStart - Variable in class brbrain.Pose
the first reg in the BRBrain read format
readStart - Variable in class brbrain.PoseGUI
the first reg in the BRBrain read format
readStart - Variable in class brbrain.PoseSequence
the first reg in the BRBrain read format
readStartSave - Variable in class brbrain.PoseGUI
saved read format starts
recover() - Method in class brbrain.BRBrain
waits BRBrain.RECOVER_MS and then drains recv buf
RECOVER_MS - Static variable in class brbrain.BRBrain
ms to wait before draining recv buffer in BRBrain.recover()
RECV_POLL_MS - Static variable in class brbrain.BRBrain
receive poll time in ms
recvADCs() - Method in class brbrain.BRBrain
receive and store the ADC channel readings in BRBrain.adcValue
recvByte(boolean) - Method in class brbrain.BRBrain
Receive a byte from the CM-5.
recvByte() - Method in class brbrain.BRBrain
covers BRBrain.recvByte(boolean), always adds to checksum
recvPacketDebug - Variable in class brbrain.BRBrain
whether to log to BRBrain.recvPacketDebugBuffer
recvPacketDebugBuffer - Variable in class brbrain.BRBrain
debug log for recv packets
recvStatus() - Method in class brbrain.BRBrain
receive a BRBrain.Instruction.I_STATUS packet, return payload
refresh() - Method in class brbrain.PoseGUI.DynamixelBox
update the value boxes of this dynamixel box from PoseGUI.pose
refresh() - Method in class brbrain.PoseGUI
do actual gui refresh from within the AWT event thread
refresh() - Method in class brbrain.PoseGUI.RegisterNameBox
update units labels from PoseGUI.useNaturalUnits
refresh() - Method in class brbrain.PoseGUI.ValueBox
update from PoseGUI.pose, but not if currently has input focus
refresh(boolean) - Method in class brbrain.PoseGUI.ValueBox
update color and content from PoseGUI.pose
refresh() - Method in class brbrain.PoseSequenceGUI
refresh the gui components
REFRESH_PERIOD_MS - Static variable in class brbrain.PoseGUI
gui refresh period
refreshFromPose() - Method in class brbrain.PoseGUI
Schedule a refresh of the GUI from the curent data in PoseGUI.pose.
refreshList - Static variable in class brbrain.PoseGUI
global gui refresh list
refreshLock - Variable in class brbrain.PoseGUI
lock for GUI update from PoseGUI.pose
refreshPending - Variable in class brbrain.PoseGUI
whether a refresh is still waiting to happen
refreshThread - Static variable in class brbrain.PoseGUI
global gui refresh thread
register - Variable in class brbrain.PoseGUI.ValueBox
the register for which this is a value
registerAxis - Variable in class brbrain.PoseGUI
the axis along which registers are arrayed
registerNameBox - Variable in class brbrain.PoseGUI
the PoseGUI.RegisterNameBox, if any
registers - Static variable in class brbrain.AX12Register
the array of AX12Registers, indexed by ordinal
registers - Static variable in class brbrain.AXS1Register
the array of AXS1Registers, indexed by ordinal
registers - Variable in class brbrain.Pose
the set of registers; do not mutate
registers - Variable in class brbrain.PoseGUI
the set of registers; do not mutate
registers - Variable in class brbrain.PoseSequence
the set of registers; do not mutate
removeButton - Variable in class brbrain.PoseSequenceGUI
 
removed(Component) - Method in interface brbrain.GUI.RemoveTask
 
removeFromRefreshList(PoseGUI) - Static method in class brbrain.PoseGUI
remove a gui from the global refresh list
removePose() - Method in class brbrain.PoseSequenceGUI
Removes the current sequence pose.
rewindButton - Variable in class brbrain.PoseSequenceGUI
 
rewindToFirstPose() - Method in class brbrain.PoseSequenceGUI
rewind to the first pose in sequence, if any
RXTX_DEF_BAUD_RATE - Static variable in class brbrain.BRBrain
default baudrate for RXTX
RXTX_OPEN_TIMEOUT_MS - Static variable in class brbrain.BRBrain
timeout in ms to wait to open a port with RXTX
RXTX_PORT_OWNER_NAME - Static variable in class brbrain.BRBrain
RXTX port owner name

S

S_DYNAMIXEL_CHECKSUM_ERROR - Static variable in class brbrain.BRBrain
CM-5 status bit
S_DYNAMIXEL_RX_OVERFLOW - Static variable in class brbrain.BRBrain
CM-5 status bit
S_DYNAMIXEL_TIMEOUT - Static variable in class brbrain.BRBrain
CM-5 status bit
S_INVALID_DYNAMIXEL_RESPONSE - Static variable in class brbrain.BRBrain
CM-5 status bit
S_INVALID_PC_COMMAND - Static variable in class brbrain.BRBrain
CM-5 status bit
S_PC_CHECKSUM_ERROR - Static variable in class brbrain.BRBrain
CM-5 status bit
S_PC_RX_OVERFLOW - Static variable in class brbrain.BRBrain
CM-5 status bit
S_PC_TIMEOUT - Static variable in class brbrain.BRBrain
CM-5 status bit
sameFormat(Pose) - Method in class brbrain.Pose
Check if this Pose is the same as otherPose except, possibly, for the contents of the Pose.values.
saveAndRestoreFormatsCheckBox - Variable in class brbrain.PoseGUI
manual sync save/restore formats box
scan(boolean[], int) - Method in class brbrain.BRBrain
Scan for presence of dynamixels with IDs in the closed interval [0, maxID].
scan(int) - Method in class brbrain.BRBrain
covers BRBrain.scan(boolean[], int), always conses
sendByte(int, boolean) - Method in class brbrain.BRBrain
Send a byte to the CM-5.
sendByte(int) - Method in class brbrain.BRBrain
covers BRBrain.sendByte(int, boolean), always adds to checksum
sequenceIterator - Variable in class brbrain.PoseSequenceGUI
iterator we always use for all mutations
SequencePlaybackController - Class in brbrain
PoseSequence playback controller.
SequencePlaybackController(int) - Constructor for class brbrain.SequencePlaybackController
initializes with a specific SequencePlaybackController.epsilon
SequencePlaybackController() - Constructor for class brbrain.SequencePlaybackController
initializes with SequencePlaybackController.DEF_EPSILON
serialPort - Variable in class brbrain.BRBrain
serial port talking to the CM-5
setBaudRate(int) - Method in class brbrain.BRBrain
attempt to set the baud rate, works only if using RXTX
setCurrentSequenceIndex(int, boolean) - Method in class brbrain.PoseSequenceGUI
Move to the specified pose in the sequence.
setCurrentSequenceIndex(int) - Method in class brbrain.PoseSequenceGUI
Covers PoseSequenceGUI.setCurrentSequenceIndex(int, boolean), always writes to hardware.
setDefaultMovingSpeed(int) - Method in class brbrain.PoseSequenceGUI
set the default moving speed for inserted poses
setFormat(int, int[], AXRegister[], int[]) - Method in class brbrain.BRBrain
Common impl of BRBrain.setReadFormat(int[], brbrain.AXRegister[], int[]) and BRBrain.setWriteFormat(int[], brbrain.AXRegister[], int[]).
setFormatsCheckBox - Variable in class brbrain.PoseGUI
manual sync set formats box
setGoalFromPresentCheckBox - Variable in class brbrain.PoseSequenceGUI
 
setGoalPositionFromPresent() - Method in class brbrain.Pose
Set AX12_GOAL_POSITION from AX12_PRESENT_POSITION.
setMovingSpeedFrom(Pose, int) - Method in class brbrain.Pose
Set the AX12_MOVING_SPEED of this Pose given the desired morph time in milliseconds starting from otherPose.
setMSMorphTime(int) - Method in class brbrain.PoseSequenceGUI
set the morph time in milliseconds for inserted poses
setPose(Pose) - Method in class brbrain.PoseGUI
Set PoseGUI.pose.
setReadFormat(int[], AXRegister[], int[]) - Method in class brbrain.BRBrain
Set the read format as described in the class header doc.
setReadFormat(Object[]) - Method in class brbrain.BRBrain
Covers BRBrain.setReadFormat(int[], brbrain.AXRegister[], int[]), uses BRBrain.parseFormatArgs(java.lang.Object[]), for jscheme API convenience.
setRegisterValue(int, AXRegister, int) - Method in class brbrain.Pose
write a register value safely
setRegisterValue(AXRegister, int) - Method in class brbrain.Pose
write same register value for all dynamixels safely
setRegisterValue(AXRegister, Pose) - Method in class brbrain.Pose
copy register value for all dynamixels safely
setSequencePlaybackController(SequencePlaybackController) - Method in class brbrain.PoseSequenceGUI
set the sequence playback controller
setSpeed(Pose, Pose) - Method in class brbrain.PoseSequenceGUI
set speed of currentSequencePose
setSpeedFactor(float) - Method in class brbrain.PoseSequenceGUI
set the current speed factor.
setSyncDefaults(BRBrain, int, boolean, boolean, boolean) - Method in class brbrain.PoseGUI
set default sync params
setSyncFormats(BRBrain, boolean) - Method in class brbrain.PoseGUI
Set the read and optionally the write formats of brBrain to those of PoseGUI.pose.
setSyncFormats(BRBrain) - Method in class brbrain.PoseGUI
covers PoseGUI.setSyncFormats(BRBrain, boolean), sets write format
setTimeoutMS(double) - Method in class brbrain.BRBrain
set the timeout for a response from the CM-5 in ms, returns old value
setUseNaturalUnits(AXRegister, boolean) - Method in class brbrain.PoseGUI
use natural units for the specified register
setUseNaturalUnits(boolean) - Method in class brbrain.PoseGUI
use natural units for all registers
setWriteFormat(int[], AXRegister[], int[]) - Method in class brbrain.BRBrain
Similar to BRBrain.setReadFormat(int[], brbrain.AXRegister[], int[]).
setWriteFormat(Object[]) - Method in class brbrain.BRBrain
Covers BRBrain.setWriteFormat(int[], brbrain.AXRegister[], int[]), uses BRBrain.parseFormatArgs(java.lang.Object[]), for jscheme API convenience.
signMagnitude11Bit - Variable in class brbrain.AXRegister
Whether this is a 2-byte little endian reg with a 10 bit magnitude and the sign in bit 11.
size() - Method in class brbrain.PoseSequence
get the number of poses in the sequence
span(AXRegister, int, AXRegister[]) - Static method in class brbrain.AXRegister
Return span of n regs from start.
span(AXRegister, int) - Static method in class brbrain.AXRegister
covers AXRegister.span(AXRegister, int, AXRegister[]), always conses
span(AXRegister, AXRegister[]) - Static method in class brbrain.AXRegister
covers AXRegister.span(AXRegister, int, AXRegister[]), spans till end
span(AXRegister) - Static method in class brbrain.AXRegister
covers AXRegister.span(AXRegister, int), spans till end
speedFactor - Variable in class brbrain.PoseSequenceGUI
the current speed factor, initially 1.0
speedFactorField - Variable in class brbrain.PoseSequenceGUI
 
speedOverrideCheckBox - Variable in class brbrain.PoseSequenceGUI
 
startAddr - Variable in class brbrain.AXRegister
start (byte) address of this register in the AX-12 register space
startPlayback(PoseSequenceGUI, Pose, Pose, int) - Method in class brbrain.SequencePlaybackController
Called by the PoseSequenceGUI to request initiation of playback.
startRecvPacket(BRBrain.Instruction) - Method in class brbrain.BRBrain
start an incoming packet expecting the given instruction
startReg - Variable in class brbrain.BRBrain
start regs in current BRBrain.F_READ and BRBrain.F_WRITE
startSendPacket(BRBrain.Instruction) - Method in class brbrain.BRBrain
start an outgoing packet with the given instruction
statusToString(int, StringBuffer) - Static method in class brbrain.BRBrain
Compose a human-readable string of CM-5 status from a CM-5 status byte.
statusToString(int) - Static method in class brbrain.BRBrain
Covers BRBrain.statusToString(int, StringBuffer)
STRUT - Static variable in class brbrain.PoseGUI
component spacing
svnid - Static variable in class brbrain.AX12Register
 
svnid - Static variable in class brbrain.AXRegister
 
svnid - Static variable in class brbrain.AXS1Register
 
svnid - Static variable in class brbrain.BRBrain
 
sync(BRBrain, boolean, boolean, boolean) - Method in class brbrain.PoseGUI
Synchronize this GUI to the hardware via an BRBrain.
sync(BRBrain) - Method in class brbrain.PoseGUI
Covers PoseGUI.sync(BRBrain, boolean, boolean, boolean), uses sync defaults.
sync() - Method in class brbrain.PoseGUI
Covers PoseGUI.sync(BRBrain, boolean, boolean, boolean), uses sync defaults.
syncButton - Variable in class brbrain.PoseGUI
manual sync button
syncLabel - Variable in class brbrain.PoseGUI.RegisterNameBox
 
syncReadData - Variable in class brbrain.PoseGUI
BRBrain read block
syncText - Variable in class brbrain.PoseGUI
text to display in sync label
syncWriteData - Variable in class brbrain.PoseGUI
BRBrain write block
syncWritePending - Variable in class brbrain.PoseGUI
whether a write should be done if enabled on the next sync

T

thermLabel - Variable in class brbrain.PoseGUI
thermistor label
timeoutMS - Variable in class brbrain.BRBrain
timout in ms to wait for a response byte from the CM-5
toCM5 - Variable in class brbrain.BRBrain
output stream to CM-5
toIdentifierString() - Method in class brbrain.AXRegister
returns the Java identifier for this register
toNaturalUnits(int) - Method in class brbrain.AXRegister
Convert a register int value to natural units.
toString() - Method in class brbrain.AXRegister
returns AXRegister.prettyName
totalNumRegs - Variable in class brbrain.BRBrain
total num regs in current BRBrain.F_READ and BRBrain.F_WRITE

U

unitsLabels - Variable in class brbrain.PoseGUI.RegisterNameBox
units label for each register
updateButton - Variable in class brbrain.PoseSequenceGUI
 
updateCachedValue(int, AXRegister, int) - Method in class brbrain.BRBrain
update BRBrain.cache
updateCurrentActualPose() - Method in class brbrain.PoseSequenceGUI
Update the current actual pose from the current sequence pose and PoseSequenceGUI.speedFactor.
updateCurrentSequencePose() - Method in class brbrain.PoseSequenceGUI
Update the current sequence pose from the current actual pose.
USAGE - Static variable in class brbrain.BRBrainShell
command line usage message
useAllLabelledNaturalUnits() - Method in class brbrain.PoseGUI
Use natural units for all regs which specify an AXRegister.naturalUnitsLabel.
useNaturalUnits - Variable in class brbrain.PoseGUI
whether to use natural units for each register
useNaturalUnitsByDefault - Variable in class brbrain.AXRegister
whether to prefer natural or raw units by default

V

value - Variable in class brbrain.BRBrain.CachedValue
the cached value
VALUE_FIELD_HEIGHT - Static variable in class brbrain.PoseGUI
height of PoseGUI.ValueBox fields
VALUE_FIELD_WIDTH - Static variable in class brbrain.PoseGUI
width of PoseGUI.ValueBox fields
valueBoxes - Variable in class brbrain.PoseGUI
PoseGUI.ValueBoxes indexed first by register then by dynamixel index
valueCheckBox - Variable in class brbrain.PoseGUI.ValueBox
the boolean value
valueField - Variable in class brbrain.PoseGUI.ValueBox
the numeric value
valueOf(String) - Static method in enum brbrain.BRBrain.Instruction
Returns the enum constant of this type with the specified name.
values() - Static method in enum brbrain.BRBrain.Instruction
Returns an array containing the constants of this enum type, in the order they are declared.
values - Variable in class brbrain.Pose
The register values, indexed first by register and second by dynamixel index.
verifyStatus(int, String, boolean) - Static method in class brbrain.BRBrain
Verify a CM-5 return status code/retry count.
verifyStatus(int, String) - Static method in class brbrain.BRBrain
covers BRBrain.verifyStatus(int, String, boolean), not warn

W

width - Variable in class brbrain.AXRegister
byte width of this register
wrapInFrame(GUI, String) - Static method in class brbrain.GUI
Add a frame to a GUI.
wrapInFrame(GUI) - Static method in class brbrain.GUI
covers GUI.wrapInFrame(GUI, String), uses gui name
wrapIterator(ListIterator<Pose>) - Method in class brbrain.PoseSequence
wrap a vanilla iterator with format checking and setting
write(float[]) - Method in class brbrain.BRBrain
Write data to dynamixels in natural units according to the current write format.
write(int[]) - Method in class brbrain.BRBrain
same as BRBrain.write(float[]) but writes register ints directly
write(Object) - Method in class brbrain.BRBrain
common impl of BRBrain.write(float[]) and BRBrain.write(int[])
WRITE_FIELD_WIDTH - Static variable in class brbrain.Pose
width in characters of register values written to an output stream
writeable - Variable in class brbrain.AXRegister
whether this register can be written
writeable - Variable in class brbrain.PoseGUI.ValueBox
if this value is syncable to the hardware
writeAXIDSave - Variable in class brbrain.PoseGUI
saved write format dynamixel IDs
writeHeaderTo(PrintWriter) - Method in class brbrain.Pose
write a header comment with the dynamixel IDs
writeHeaderTo(OutputStream) - Method in class brbrain.Pose
covers Pose.writeHeaderTo(PrintWriter)
writeHeaderTo(PrintWriter) - Method in class brbrain.PoseSequence
write a header comment with the axIDs
writeHeaderTo(OutputStream) - Method in class brbrain.PoseSequence
covers PoseSequence.writeHeaderTo(PrintWriter)
writeLengthSave - Variable in class brbrain.PoseGUI
saved write format lengths
writeNum - Variable in class brbrain.Pose
the number of regs in the BRBrain write format, or 0 if none
writeNum - Variable in class brbrain.PoseGUI
the number of regs in the BRBrain write format, or 0 if none
writeNum - Variable in class brbrain.PoseSequence
the number of regs in the BRBrain write format, or 0 if none
writeStart - Variable in class brbrain.Pose
the first reg in the BRBrain write format, or null if none
writeStart - Variable in class brbrain.PoseGUI
the first reg in the BRBrain write format, or null if none
writeStart - Variable in class brbrain.PoseSequence
the first reg in the BRBrain write format, or null if none
writeStartSave - Variable in class brbrain.PoseGUI
saved write format starts
writeTo(Pose) - Method in class brbrain.Pose
write Pose.values to other pose
writeTo(int[], int) - Method in class brbrain.Pose
Scatter Pose.values to an BRBrain write block; see class header doc.
writeTo(int[]) - Method in class brbrain.Pose
covers Pose.writeTo(int[], int), starts at 0
writeTo(PrintWriter) - Method in class brbrain.Pose
write Pose.values in the format Pose.readFrom(brbrain.Pose) expects
writeTo(OutputStream) - Method in class brbrain.Pose
covers Pose.writeTo(PrintWriter)
writeTo(PrintWriter, AXRegister, int[]) - Method in class brbrain.Pose
write one register list
writeTo(PrintWriter, int) - Method in class brbrain.Pose
write one int left padded with spaces to Pose.WRITE_FIELD_WIDTH
writeTo(PrintWriter) - Method in class brbrain.PoseSequence
write all PoseSequence.poses in the format PoseSequence.readFrom(brbrain.Pose.PoseTokenizer) expects
writeTo(OutputStream) - Method in class brbrain.PoseSequence
covers PoseSequence.writeTo(PrintWriter)
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