allowing for engineering units of links to be doudles #26

NeuronRobotics · May 14, 2016 · ef81002 · ef81002
1 parent a6cf479
commit ef81002
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Showing 6 changed files with 50 additions and 47 deletions.
diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java
@@ -142,8 +142,8 @@ public double toEngineeringUnits(double value){
 	 * @param euValue the eu value
 	 * @return the int
 	 */
-	public int toLinkUnits(double euValue){
-		return ((int) (euValue/getScale()))+getHome();
+	public double toLinkUnits(double euValue){
+		return  (euValue/getScale())+getHome();
 	}
 
 	/**
@@ -306,7 +306,7 @@ public boolean isMinEngineeringUnits() {
 	 *
 	 * @param val the new position
 	 */
-	protected void setPosition(int val) {
+	protected void setPosition(double val) {
 		//if(getTargetValue() != val){
 			setTargetValue(val);
 		//}
@@ -439,26 +439,26 @@ public double getScale() {
 	 *
 	 * @return the upper limit
 	 */
-	public int getUpperLimit() {
-		return (int) conf.getUpperLimit();
+	public double getUpperLimit() {
+		return (double) conf.getUpperLimit();
 	}
 
 	/**
 	 * Gets the lower limit.
 	 *
 	 * @return the lower limit
 	 */
-	public int getLowerLimit() {
-		return (int) conf.getLowerLimit();
+	public double getLowerLimit() {
+		return  conf.getLowerLimit();
 	}
 
 	/**
 	 * Gets the home.
 	 *
 	 * @return the home
 	 */
-	public int getHome() {
-		return (int) conf.getStaticOffset();
+	public double getHome() {
+		return  conf.getStaticOffset();
 	}
 
 	/**

diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java
@@ -223,14 +223,12 @@ private AbstractLink getLinkLocal(LinkConfiguration c){
 		case GCODE_HEATER_TOOL:
 			break;
 		case GCODE_STEPPER_PRISMATIC:
+		case GCODE_STEPPER_ROTORY:
+		case GCODE_STEPPER_TOOL:
 			if(getGCODE(c)!=null){
 				tmp = getGCODE(c).getLink(c);
 			}
 			break;
-		case GCODE_STEPPER_ROTORY:
-			break;
-		case GCODE_STEPPER_TOOL:
-			break;
 		default:
 			break;
 		}

diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java
@@ -39,7 +39,7 @@ public GcodeDevice(NRSerialPort serial){
 
 	public AbstractLink getLink(LinkConfiguration axis){
 		String gcodeAxis = "";
-		GcodePrismatic tmp=null;
+		AbstractLink tmp=null;
 		switch(axis.getType()){
 		case GCODE_STEPPER_PRISMATIC:
 		case GCODE_STEPPER_ROTORY:
@@ -65,21 +65,26 @@ public AbstractLink getLink(LinkConfiguration axis){
 				break;
 		}
 		switch(axis.getType()){
-		case GCODE_HEATER_TOOL:
-			break;
 		case GCODE_STEPPER_PRISMATIC:
 			if(getGCODE(axis)!=null){
 				 tmp = new GcodePrismatic(axis,getGCODE(axis),gcodeAxis);
 			}
 			break;
 		case GCODE_STEPPER_ROTORY:
+			if(getGCODE(axis)!=null){
+				 tmp = new GcodeRotory(axis,getGCODE(axis),gcodeAxis);
+			}
 			break;
 		case GCODE_STEPPER_TOOL:
-			default:
+			if(getGCODE(axis)!=null){
+				 tmp = new GcodeRotory(axis,getGCODE(axis),gcodeAxis);
+			}
+			break;
+		default:
 				break;
 		}
 		if(tmp!=null){
-			links.put(axis,tmp);
+			links.put(axis,(IGCodeChannel) tmp);
 		}
 		return tmp;
 	}

diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java
@@ -76,7 +76,7 @@ public void onPIDLimitEvent(PIDLimitEvent e) {
 				new Object[]{
 					new Byte((byte) e.getGroup()),
 					new Byte( e.getLimitType().getValue()),
-					new Integer(e.getValue()),
+					new Integer((int) e.getValue()),
 					new Integer((int) e.getTimeStamp()),
 				}, 
 				new BowlerDataType[]{

diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java
@@ -13,7 +13,7 @@ public class PIDLimitEvent {
 	private int channel;
 
 	/** The ticks. */
-	private int ticks; 
+	private double ticks; 
 
 	/** The time stamp. */
 	private long timeStamp;
@@ -29,7 +29,7 @@ public class PIDLimitEvent {
 	 * @param type the type
 	 * @param time the time
 	 */
-	public PIDLimitEvent(int chan,int tick,PIDLimitEventType type,long time){
+	public PIDLimitEvent(int chan,double tick,PIDLimitEventType type,long time){
 		setGroup(chan);
 		setLimitType(type);
 		setValue(tick);
@@ -75,7 +75,7 @@ public int getGroup() {
 	 *
 	 * @param ticks the new value
 	 */
-	public void setValue(int ticks) {
+	public void setValue(double ticks) {
 		this.ticks = ticks;
 	}
 
@@ -84,7 +84,7 @@ public void setValue(int ticks) {
 	 *
 	 * @return the value
 	 */
-	public int getValue() {
+	public double getValue() {
 		return ticks;
 	}
 

diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java
@@ -79,7 +79,7 @@ public void linkFactoryPrismatic(){
 			confp.setScale(1);
 			AbstractLink link = lf.getLink(confp);
 			assertEquals(link.getClass(), GcodePrismatic.class);// checks to see a real device was created
-			link.setTargetEngineeringUnits(100);
+			link.setTargetEngineeringUnits(100.5);
 			link.flush(2);//take 2 seconds to flush
 
 			LinkConfiguration confp2 = new LinkConfiguration();
@@ -89,7 +89,7 @@ public void linkFactoryPrismatic(){
 			confp2.setScale(1);
 			AbstractLink link2 = lf.getLink(confp2);
 			assertEquals(link2.getClass(), GcodePrismatic.class);// checks to see a real device was created
-			link2.setTargetEngineeringUnits(100);
+			link2.setTargetEngineeringUnits(100.5);
 			link2.flush(2);//take 2 seconds to flush
 
 			link2.setTargetEngineeringUnits(0);
@@ -103,28 +103,28 @@ public void linkFactoryPrismatic(){
 	@Test
 	public void G1() {
 
-//		if (hasPort) {
-//			GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE));
-//			String response = device.runLine("G90");// Absolute mode
-//			if (response.length() > 0)
-//				System.out.println("Gcode line run: " + response);
-//			else {
-//				fail("No response");
-//			}
-//			response = device.runLine("G1 X100 Y100 Z0 E10 F6000");
-//			if (response.length() > 0)
-//				System.out.println("Gcode line run: " + response);
-//			else {
-//				fail("No response");
-//			}
-//			response = device.runLine("G1 X0 Y0 Z0 E0 F3000");
-//			if (response.length() > 0)
-//				System.out.println("Gcode line run: " + response);
-//			else {
-//				fail("No response");
-//			}
-//
-//		}
+		if (hasPort) {
+			GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE));
+			String response = device.runLine("G90");// Absolute mode
+			if (response.length() > 0)
+				System.out.println("Gcode line run: " + response);
+			else {
+				fail("No response");
+			}
+			response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000");
+			if (response.length() > 0)
+				System.out.println("Gcode line run: " + response);
+			else {
+				fail("No response");
+			}
+			response = device.runLine("G1 X0 Y0 Z0 E0 F3000");
+			if (response.length() > 0)
+				System.out.println("Gcode line run: " + response);
+			else {
+				fail("No response");
+			}
+
+		}
 	}
 
 }