org.openimaj.hardware.turntable

Class Turntable

java.lang.Object

org.openimaj.hardware.turntable.Turntable

public class Turntable
extends Object

A simple controller for our serially connected electronic turntable. Send NNNNNA0 to rotate anticlockwise by NNNNN increments (360/24000th of a degree) Send NNNNNC0 to rotate clockwise by NNNNN increments (360/24000th of a degree)

Author:

Jonathon Hare (jsh2@ecs.soton.ac.uk)

Field Summary

Fields

Modifier and Type	Field and Description
protected int	currentAngleTicks
protected static double	TICKS_PER_DEGREE
protected static double	TICKS_PER_RADIAN
protected static int	TICKS_PER_REVOLUTION
protected SerialDevice	turntableDevice

Constructor Summary

Constructors

Constructor and Description
Turntable(String port) Default constructor.

Method Summary

Methods

Modifier and Type	Method and Description
void	close() Close the connection to the turntable.
double	getCurrentAngleDegrees() Get the current absolute angle in degrees (relative to the position at initialisation)
double	getCurrentAngleRadians() Get the current absolute angle in radians (relative to the position at initialisation)
static void	main(String[] args) Test the turntable
void	rotateByDegrees(double degrees) Rotate the turntable by the given angle in degrees.
void	rotateByRadians(double rads) Rotate the turntable by the given angle in radians.
void	rotateToDegrees(double degrees) Rotate the turntable to the given absolute angle in degrees (relative to the position at initialisation).
void	rotateToRadians(double rads) Rotate the turntable to the given absolute angle in radians (relative to the position at initialisation).
protected void	sendCommand(int ticks)
protected void	sendCommand(int ticks, boolean cw)

Methods inherited from class java.lang.Object

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

Field Detail

TICKS_PER_REVOLUTION

protected static final int TICKS_PER_REVOLUTION

See Also:

Constant Field Values

TICKS_PER_DEGREE

protected static final double TICKS_PER_DEGREE

See Also:

Constant Field Values

TICKS_PER_RADIAN

protected static final double TICKS_PER_RADIAN

See Also:

Constant Field Values

currentAngleTicks

protected int currentAngleTicks

turntableDevice

protected SerialDevice turntableDevice

Constructor Detail

Turntable

public Turntable(String port)
          throws Exception

Default constructor. Opens a connection to the turntable on the given port.

Parameters:

port - The port

Throws:

Exception

Method Detail

getCurrentAngleDegrees

public double getCurrentAngleDegrees()

Get the current absolute angle in degrees (relative to the position at initialisation)

Returns:

the absolute angle in degrees

getCurrentAngleRadians

public double getCurrentAngleRadians()

Get the current absolute angle in radians (relative to the position at initialisation)

Returns:

the absolute angle in radians

rotateToRadians

public void rotateToRadians(double rads)
                     throws IOException

Rotate the turntable to the given absolute angle in radians (relative to the position at initialisation). The turntable will take the shortest path to the requested position.

Parameters:

rads - the angle in radians

Throws:

IOException

rotateToDegrees

public void rotateToDegrees(double degrees)
                     throws IOException

Rotate the turntable to the given absolute angle in degrees (relative to the position at initialisation). The turntable will take the shortest path to the requested position.

Parameters:

degrees - the angle in degrees

Throws:

IOException

rotateByRadians

public void rotateByRadians(double rads)
                     throws IOException

Rotate the turntable by the given angle in radians. Positive angles are clockwise, negative anticlockwise.

Parameters:

rads - the angle in radians

Throws:

IOException

rotateByDegrees

public void rotateByDegrees(double degrees)
                     throws IOException

Rotate the turntable by the given angle in degrees. Positive angles are clockwise, negative anticlockwise.

Parameters:

degrees - the angle in degrees

Throws:

IOException

sendCommand

protected void sendCommand(int ticks)
                    throws IOException

Throws:

IOException

sendCommand

protected void sendCommand(int ticks,
               boolean cw)
                    throws IOException

Throws:

IOException

close

public void close()

Close the connection to the turntable.

main

public static void main(String[] args)
                 throws Exception

Test the turntable

Parameters:

args -

Throws:

Exception