orc
Class Orc

java.lang.Object
  orc.Orc

public class Orc
extends java.lang.Object

Represents a connection to a uOrc board.

Field Summary

static int	FAST_DIGIO_MODE_IN
static int	FAST_DIGIO_MODE_OUT
static int	FAST_DIGIO_MODE_SERVO
static int	FAST_DIGIO_MODE_SLOW_PWM
boolean	verbose

Constructor Summary

Orc(java.net.InetAddress inetaddr)

Method Summary

void	addListener(OrcListener ol)
OrcResponse	doCommand(int commandId, byte[] payload)
OrcResponse	doCommandEx(int commandId, byte[] payload) try a transaction once
java.net.InetAddress	getAddress()
OrcStatus	getStatus()
java.lang.String	getVersion()
byte[]	i2cTransaction(int addr, java.lang.Object... os) Perform an I2C transaction.
static void	main(java.lang.String[] args)
static Orc	makeOrc()
static Orc	makeOrc(java.lang.String hostname)
int[]	spiTransaction(int slaveClk, int spo, int sph, int nbits, int[] writebuf)
long	toHostUtime(long uorcUtime)

Methods inherited from class java.lang.Object

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

Field Detail

FAST_DIGIO_MODE_IN

public static final int FAST_DIGIO_MODE_IN

See Also:

Constant Field Values

FAST_DIGIO_MODE_OUT

public static final int FAST_DIGIO_MODE_OUT

See Also:

Constant Field Values

FAST_DIGIO_MODE_SERVO

public static final int FAST_DIGIO_MODE_SERVO

See Also:

Constant Field Values

FAST_DIGIO_MODE_SLOW_PWM

public static final int FAST_DIGIO_MODE_SLOW_PWM

See Also:

Constant Field Values

verbose

public boolean verbose

Constructor Detail

Orc

public Orc(java.net.InetAddress inetaddr)
    throws java.io.IOException

Throws:

java.io.IOException

Method Detail

main

public static void main(java.lang.String[] args)

getAddress

public java.net.InetAddress getAddress()

makeOrc

public static Orc makeOrc()

toHostUtime

public long toHostUtime(long uorcUtime)

getVersion

public java.lang.String getVersion()

makeOrc

public static Orc makeOrc(java.lang.String hostname)

addListener

public void addListener(OrcListener ol)

doCommand

public OrcResponse doCommand(int commandId,
                             byte[] payload)

doCommandEx

public OrcResponse doCommandEx(int commandId,
                               byte[] payload)
                        throws java.io.IOException

try a transaction once

Throws:

java.io.IOException

getStatus

public OrcStatus getStatus()

i2cTransaction

public byte[] i2cTransaction(int addr,
                             java.lang.Object... os)

Perform an I2C transaction. The transaction consists of up to two phases, a write followed by a read.

Parameters:

addr - The I2C address, [0,127]

writebuf - A buffer containing data to be written. If null, then the write phase will be skipped.

readlen - The number of bytes to read after the write phase. If zero, the read phase will be skipped.

Returns:

The data from the I2C read phase, or null if readlen was zero.

spiTransaction

public int[] spiTransaction(int slaveClk,
                            int spo,
                            int sph,
                            int nbits,
                            int[] writebuf)