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java.lang.Object rp1.rossum.event.RsEvent rp1.rossum.event.RsEncoderStatusEvent
public class RsEncoderStatusEvent
Provides data for encoder data; because this is a transitional implementation it is not treated as a true sensor event. There are two counters associated with the encoder: accumulatorValue and absoluteAccumulatorValue. Essentially, these simulate the behavior of an incremental encoder. Each time the encoder undergoes a transition (moves from one encoder interval to the next), the absolute accumulator is incremented. If the increment is in a positive direction, the standard accumulator is incremented. If it is in a negative direction, the standard accumulator is decremented. Both accumulators are cleared when request to do so is issued by the client application.
Field Summary | |
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int |
absoluteAccumulatorValue
Total count of encoder transitions. |
int |
accumulatorValue
Signed value, the sum of accumulated +/1 encoder transitions. |
boolean |
clearOnReport
Indicates that the accumulators were cleared when the event was reported. |
double |
encoderAngle
The current rotational angle of the encoder (intended for Quality Assuance purposes). |
int |
encoderID
ID of the body part associated with the encoder. |
int |
encoderInterval
The current encoder value (essentially, simulated an absolute encoder). |
int |
quadratureValue
Signed value indicating direction of most recent transition. |
int |
requestIndex
Request index from RsClient.sendEncoderStatusRequest. |
Fields inherited from class rp1.rossum.event.RsEvent |
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eventID, EVT_ARRAY_SIZE, EVT_CONTACT_SENSOR, EVT_ENCODER_STATUS, EVT_HEARTBEAT, EVT_MAX_CODE, EVT_MOTION_HALTED, EVT_MOTION_STARTED, EVT_MOUSE_CLICK, EVT_PAINT_SENSOR, EVT_PLACEMENT, EVT_PLAN, EVT_POSITION, EVT_RANGE_SENSOR, EVT_TARGET_SELECTION, EVT_TARGET_SENSOR, EVT_TIMEOUT, simTime |
Constructor Summary | |
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RsEncoderStatusEvent(double simTime,
int requestIndex,
int encoderID,
int accumulatorValue,
int absoluteAccumulatorValue,
int quadratureValue,
int encoderInterval,
double encoderAngle,
boolean clearOnReport)
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Method Summary |
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Methods inherited from class rp1.rossum.event.RsEvent |
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consume, getEventID, getIndex, getSimTime, isConsumed |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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public final int requestIndex
public final int encoderID
public final int accumulatorValue
public final int absoluteAccumulatorValue
public final int quadratureValue
public final int encoderInterval
public final double encoderAngle
public final boolean clearOnReport
Constructor Detail |
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public RsEncoderStatusEvent(double simTime, int requestIndex, int encoderID, int accumulatorValue, int absoluteAccumulatorValue, int quadratureValue, int encoderInterval, double encoderAngle, boolean clearOnReport)
simTime
- Simulation time at which event was issued.requestIndex
- Request index from RsClient.sendEncoderStatusRequest.encoderID
- ID of the body part associated with the encoder.accumulatorValue
- Signed value, the sum of accumulated +/1 encoder transitions.absoluteAccumulatorValue
- Total count of encoder transitions.quadratureValue
- Signed value indicating direction of most recent transition.encoderInterval
- The current encoder value (essentially, simulated an absolute encoder).encoderAngle
- The current rotational angle of the encoder (intended for Quality Assuance purposes).clearOnReport
- Indicates that the accumulators were cleared when the event was reported.
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