/*******************************************************************************
*
* This file is part of JOP, the Java Optimized Processor
* see <http://www.jopdesign.com/>
*
* Copyright (C) 2007, Peter Hilber and Alexander Dejaco
*
* 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 3 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, see <http://www.gnu.org/licenses/>.
*
* Contributors:
* Casper Jensen <semadk@gmail.com> - Changes for use as simulation
* Christian Frost <thecfrost@gmail.com> - Changes for use as simulation
* Kasper Søe Luckow <luckow@cs.aau.dk> - Changes for use as simulation
*
******************************************************************************/
package minepump.legosim.lib;
/**
* Motor steering (Motor 0-2) and back-EMF motor speed measurement
* (only Motor 0-1 due to pin constraints).
* @author Peter Hilber (peter.hilber@student.tuwien.ac.at)
*/
public class Motor {
/**
* Index of the Motor this instance steers.
* @return 0-2.
*/
public int getIndex()
{
return 0;
}
/**
*
* @param index 0-2.
* @param state {@linkplain #STATE_OFF}, {@linkplain #STATE_FORWARD}, {@linkplain #STATE_BACKWARD} or {@linkplain #STATE_BRAKE}.
* @param measure When true, back-EMF measurement is made when running forward or backward.
* This necessitates to stop the motor for short times (which is also made for motors without
* back-EMF measurement capability).
* @param dutyCycle 0-{@linkplain #MAX_DUTYCYCLE}.
*/
public static void setMotor(int index, int state, boolean measure, int dutyCycle)
{
}
/**
*
* @param index 0-2.
* @param state {@linkplain #STATE_OFF}, {@linkplain #STATE_FORWARD}, {@linkplain #STATE_BACKWARD} or {@linkplain #STATE_BRAKE}.
* @param measure When true, back-EMF measurement is made when running forward or backward.
* This necessitates to stop the motor for short times (which is also made for motors without
* back-EMF measurement capability).
* @param percentage Overshooting is handled.
*/
public static void setMotorPercentage(int index, int state, boolean measure, int percentage)
{
}
/**
*
* @param index Index of the Motor this instance steers (0-2).
*/
public Motor(int index)
{
}
/**
*
* @param state {@linkplain #STATE_OFF}, {@linkplain #STATE_FORWARD}, {@linkplain #STATE_BACKWARD} or {@linkplain #STATE_BRAKE}.
* @param measure When true, back-EMF measurement is made when running forward or backward.
* This necessitates to stop the motor for short times (which is also made for motors without
* back-EMF measurement capability).
* @param dutyCycle 0-{@linkplain #MAX_DUTYCYCLE}.
*/
public void setMotor(int state, boolean measure, int dutyCycle)
{
}
/**
*
* @param state {@linkplain #STATE_OFF}, {@linkplain #STATE_FORWARD}, {@linkplain #STATE_BACKWARD} or {@linkplain #STATE_BRAKE}.
* @param measure When true, back-EMF measurement is made when running forward or backward.
* This necessitates to stop the motor for short times (which is also made for motors without
* back-EMF measurement capability).
* @param percentage Overshooting is handled.
*/
public void setMotorPercentage(int state, boolean measure, int percentage)
{
}
/**
*
* @param state {@linkplain #STATE_OFF}, {@linkplain #STATE_FORWARD}, {@linkplain #STATE_BACKWARD} or {@linkplain #STATE_BRAKE}.
*/
public void setState(int state)
{
}
/**
*
* @param dutyCycle 0-{@linkplain #MAX_DUTYCYCLE}.
*/
public void setDutyCycle(int dutyCycle)
{
}
/**
*
* @param percentage Overshooting is handled.
* @return Duty cycle value between 0 and {@linkplain #MAX_DUTYCYCLE}.
*/
public static int dutyCyclePercentageToDutyCycle(int percentage)
{
return 0;
}
/**
*
* @param percentage Overshooting is handled.
*/
public void setDutyCyclePercentage(int percentage)
{
setDutyCycle(dutyCyclePercentageToDutyCycle(percentage));
}
/**
* @param measure When true, back-EMF measurement is made when running forward or backward.
* This necessitates to stop the motor for short times (which is also made for motors without
* back-EMF measurement capability).
*/
public void setMeasure(boolean measure)
{
}
/**
*
* @return 0-{@linkplain #MAX_DUTYCYCLE}.
*/
public int getDutyCycle()
{
return 0;
}
/**
*
* @return When true, back-EMF measurement is made when running forward or backward.
* This necessitates to stop the motor for short times (which is also made for motors without
* back-EMF measurement capability).
*/
public boolean getMeasure()
{
return false;
}
/**
*
* @return {@linkplain #STATE_OFF}, {@linkplain #STATE_FORWARD}, {@linkplain #STATE_BACKWARD} or {@linkplain #STATE_BRAKE}.
*/
public int getState()
{
return 0;
}
/**
* Reads and returns the raw back-EMF values last measured by the ADC.
* Reading back-EMF values is only supported for Motor 0 and Motor 1.
*
* @warning Allocates Memory, only use when garbage collector is active
* @return 9 bit ADC value. XXX typical range
*/
public int[] readBackEMF()
{
return new int[] {};
}
/**
* Reads and returns the back-EMF values last measured by the ADC.
* Reading back-EMF values is only supported for Motor 0 and Motor 1.
*
* @warning Allocates Memory, only use when garbage collector is active
* @return The values returned are the differences of the 9 bit ADC value and {@linkplain #BACKEMF_IDLE_VALUE}.
*/
public int[] readNormalizedBackEMF()
{
return new int[] {};
}
/**
* Returns the back-EMF values for the motor last read by an
* invocation of the class method {@linkplain #synchronizedReadBackEMF()}.
* Reading back-EMF values is only supported for Motor 0 and Motor 1.
* @param emfData array of size 2 to hold the results
* @return 9 bit ADC value.
* @warning Allocates Memory, only use when garbage collector is active
*/
public void updateSynchronizedBackEMF(int[] emfData)
{
}
/**
* Returns the back-EMF values for the motor last read by an
* invocation of the class method {@linkplain #synchronizedReadBackEMF()}.
*
* @warning Allocates Memory, only use when garbage collector is active
* @see updateSynchronizedBackEMF
* @return 9 bit ADC value.
*/
public int[] getSynchronizedBackEMF()
{
return new int[] {};
}
/**
* Gets the back-EMF values last measured by the ADC.
* The Motor 0 and Motor 1 back-EMF values are guaranteed to be synchronized.
* <p>
* 9*4 bits for the 4 back-EMF values cannot be transferred in a single cycle.
* Therefore, the hardware won't update both values after the values for the
* first motor have been read until the values for the second motor have been
* read, too.
*/
public static /*synchronized*/ void synchronizedReadBackEMF() // TODO make synchronized?
{
}
/**
* Gets the back-EMF values last measured by the ADC.
* The Motor 0 and Motor 1 back-EMF values are guaranteed to be synchronized.
* <p>
* 9*4 bits for the 4 back-EMF values cannot be transferred in a single cycle.
* Therefore, the hardware won't update both values after the values for the
* first motor have been read until the values for the second motor have been
* read, too.
*
* @warning Allocates Memory, only use when garbage collector is active
* @return The values returned are the differences of the 9 bit ADC value and {@linkplain #BACKEMF_IDLE_VALUE}.
*/
public int[] getSynchronizedNormalizedBackEMF()
{
return new int[] {};
}
/** Gets the back-EMF values last measured by the ADC.
* The Motor 0 and Motor 1 back-EMF values are guaranteed to be synchronized.
* <p>
* 9*4 bits for the 4 back-EMF values cannot be transferred in a single cycle.
* Therefore, the hardware won't update both values after the values for the
* first motor have been read until the values for the second motor have been
* read, too.
*/
public void updateSynchronizedNormalizedBackEMF(int[] emfData) {
}
}