org.lejon
Class DriveModel

java.lang.Object
  org.lejon.DriveModel

Direct Known Subclasses:

DDModel

public abstract class DriveModel

extends java.lang.Object

This is an abstract description of a drive. Each concrete architecture should be inherited from this class and implemented.

Field Summary

static int	IDLE Constant for execution state IDLE
static int	MOVING Constant for execution state MOVING
static int	PAUSE Constant for execution state PAUSE
static int	SETUP Constant for execution state SETUP

Method Summary

void	addMotionEventListener(MotionEventListener motionEventListener) Sets a listener for handling callbacks from here.
abstract void	cancel() Cancels the running action.
abstract MotionReport	getMotionReport() Returns the motion report for the current action.
abstract void	move() Executes the action that was set up previously.
abstract void	pause() Pauses the running action.
void	removeMotionEventListener() Removes the current MotionEventListener.
abstract void	resume() Restarts the previously paused action.
abstract void	setMotionCommand(MotionCommand motionCommand) Sets a motion command which defines the action to be excecuted by the drive.

Methods inherited from class java.lang.Object

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

Field Detail

IDLE

public static final int IDLE

Constant for execution state IDLE

See Also:

Constant Field Values

SETUP

public static final int SETUP

Constant for execution state SETUP

See Also:

Constant Field Values

MOVING

public static final int MOVING

Constant for execution state MOVING

See Also:

Constant Field Values

PAUSE

public static final int PAUSE

Constant for execution state PAUSE

See Also:

Constant Field Values

Method Detail

setMotionCommand

public abstract void setMotionCommand(MotionCommand motionCommand)

Sets a motion command which defines the action to be excecuted by the drive.

Parameters:

motionCommand - the motion command.

getMotionReport

public abstract MotionReport getMotionReport()

Returns the motion report for the current action.

Returns:

the current motion report

move

public abstract void move()

Executes the action that was set up previously.

pause

public abstract void pause()

Pauses the running action.

resume

public abstract void resume()

Restarts the previously paused action.

cancel

public abstract void cancel()

Cancels the running action.

addMotionEventListener

public void addMotionEventListener(MotionEventListener motionEventListener)

Sets a listener for handling callbacks from here.

Parameters:

motionEventListener - the listener object

removeMotionEventListener

public void removeMotionEventListener()

Removes the current MotionEventListener.