orc
Class OrcStatus

java.lang.Object
  extended by orc.OrcStatus

public class OrcStatus
extends java.lang.Object

The state of the uOrcBoard, including sensor states. Most users won't need to access this directly.


Field Summary
 int[] analogInput
           
 int[] analogInputFilterAlpha
           
 int[] analogInputFiltered
           
 int debugCharsWaiting
           
 int[] fastDigitalConfig
           
 int[] fastDigitalMode
           
 long[] gyroIntegrator
           
 int[] gyroIntegratorCount
           
 boolean[] motorEnable
           
 int[] motorPWMactual
           
 int[] motorPWMgoal
           
 int[] motorSlewRaw
           
 double[] motorSlewSeconds
           
 Orc orc
           
 int[] qeiPosition
           
 int[] qeiVelocity
           
 int simpleDigitalDirections
           
 int simpleDigitalValues
           
 int statusFlags
           
 long utimeHost
           
 long utimeOrc
           
 
Constructor Summary
OrcStatus(Orc orc, OrcResponse response)
          assume that response type has already been consumed.
 
Method Summary
 double getBatteryVoltage()
           
 boolean getEstopState()
          Is the estop switch activated?
 boolean getMotorWatchdogState()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

orc

public Orc orc

utimeOrc

public long utimeOrc

utimeHost

public long utimeHost

statusFlags

public int statusFlags

debugCharsWaiting

public int debugCharsWaiting

analogInput

public int[] analogInput

analogInputFiltered

public int[] analogInputFiltered

analogInputFilterAlpha

public int[] analogInputFilterAlpha

simpleDigitalValues

public int simpleDigitalValues

simpleDigitalDirections

public int simpleDigitalDirections

motorEnable

public boolean[] motorEnable

motorPWMactual

public int[] motorPWMactual

motorPWMgoal

public int[] motorPWMgoal

motorSlewRaw

public int[] motorSlewRaw

motorSlewSeconds

public double[] motorSlewSeconds

qeiPosition

public int[] qeiPosition

qeiVelocity

public int[] qeiVelocity

fastDigitalMode

public int[] fastDigitalMode

fastDigitalConfig

public int[] fastDigitalConfig

gyroIntegrator

public long[] gyroIntegrator

gyroIntegratorCount

public int[] gyroIntegratorCount
Constructor Detail

OrcStatus

public OrcStatus(Orc orc,
                 OrcResponse response)
          throws java.io.IOException
assume that response type has already been consumed. Length is next.

Throws:
java.io.IOException
Method Detail

getEstopState

public boolean getEstopState()
Is the estop switch activated?


getMotorWatchdogState

public boolean getMotorWatchdogState()

getBatteryVoltage

public double getBatteryVoltage()