com.phidgets
Class StepperPhidget

java.lang.Object
  com.phidgets.Phidget
      com.phidgets.StepperPhidget

public final class StepperPhidget

extends Phidget

This class represents a Phidget Stepper Controller. All methods to to control a stepper controller and read back stepper data are implemented in this class.

The Phidget Stepper is able to control 1 or more Stepper motors. Motor Acceleration and Velocity are controllable, and micro-stepping is used. The type and number of motors that can be controlled depend on the Stepper Controller. Digital inputs are available on select Phidget Stepper Controllers.

Author:

Phidgets Inc.

Field Summary

Fields inherited from class com.phidgets.Phidget

PHIDCLASS_ACCELEROMETER, PHIDCLASS_ADVANCEDSERVO, PHIDCLASS_ANALOG, PHIDCLASS_BRIDGE, PHIDCLASS_ENCODER, PHIDCLASS_FREQUENCYCOUNTER, PHIDCLASS_GPS, PHIDCLASS_INTERFACEKIT, PHIDCLASS_LED, PHIDCLASS_MOTORCONTROL, PHIDCLASS_NOTHING, PHIDCLASS_PHSENSOR, PHIDCLASS_RFID, PHIDCLASS_SERVO, PHIDCLASS_STEPPER, PHIDCLASS_TEMPERATURESENSOR, PHIDCLASS_TEXTLCD, PHIDCLASS_TEXTLED, PHIDCLASS_WEIGHTSENSOR, PHIDGET_LOG_CRITICAL, PHIDGET_LOG_DEBUG, PHIDGET_LOG_ERROR, PHIDGET_LOG_INFO, PHIDGET_LOG_VERBOSE, PHIDGET_LOG_WARNING, PHIDID_ACCELEROMETER_2AXIS, PHIDID_ACCELEROMETER_3AXIS, PHIDID_ADVANCEDSERVO_1MOTOR, PHIDID_ADVANCEDSERVO_8MOTOR, PHIDID_ANALOG_4OUTPUT, PHIDID_BIPOLAR_STEPPER_1MOTOR, PHIDID_BRIDGE_4INPUT, PHIDID_ENCODER_1ENCODER_1INPUT, PHIDID_ENCODER_HS_1ENCODER, PHIDID_ENCODER_HS_4ENCODER_4INPUT, PHIDID_FREQUENCYCOUNTER_2INPUT, PHIDID_GPS, PHIDID_INTERFACEKIT_0_0_4, PHIDID_INTERFACEKIT_0_0_8, PHIDID_INTERFACEKIT_0_16_16, PHIDID_INTERFACEKIT_0_8_8_w_LCD, PHIDID_INTERFACEKIT_2_2_2, PHIDID_INTERFACEKIT_4_8_8, PHIDID_INTERFACEKIT_8_8_8, PHIDID_INTERFACEKIT_8_8_8_w_LCD, PHIDID_IR, PHIDID_LED_64, PHIDID_LED_64_ADV, PHIDID_LINEAR_TOUCH, PHIDID_MOTORCONTROL_1MOTOR, PHIDID_MOTORCONTROL_HC_2MOTOR, PHIDID_MOTORCONTROL_LV_2MOTOR_4INPUT, PHIDID_NOTHING, PHIDID_PHSENSOR, PHIDID_RFID, PHIDID_RFID_2OUTPUT, PHIDID_RFID_2OUTPUT_READ_WRITE, PHIDID_ROTARY_TOUCH, PHIDID_SERVO_1MOTOR, PHIDID_SERVO_1MOTOR_OLD, PHIDID_SERVO_4MOTOR, PHIDID_SERVO_4MOTOR_OLD, PHIDID_SPATIAL_ACCEL_3AXIS, PHIDID_SPATIAL_ACCEL_GYRO_COMPASS, PHIDID_TEMPERATURESENSOR, PHIDID_TEMPERATURESENSOR_4, PHIDID_TEMPERATURESENSOR_IR, PHIDID_TEXTLCD_2x20, PHIDID_TEXTLCD_2x20_w_0_8_8, PHIDID_TEXTLCD_2x20_w_8_8_8, PHIDID_TEXTLCD_ADAPTER, PHIDID_TEXTLED_1x8, PHIDID_TEXTLED_4x8, PHIDID_UNIPOLAR_STEPPER_4MOTOR, PHIDID_WEIGHTSENSOR

Constructor Summary

StepperPhidget()

Method Summary

void	addCurrentChangeListener(CurrentChangeListener l) Adds a current change listener.
void	addInputChangeListener(InputChangeListener l) Adds an input change listener.
void	addStepperPositionChangeListener(StepperPositionChangeListener l) Adds a position change listener.
void	addStepperVelocityChangeListener(StepperVelocityChangeListener l) Adds a velocity change listener.
double	getAcceleration(int index) Returns a motor's acceleration.
double	getAccelerationMax(int index) Returns the maximum acceleration that a motor will accept, or return.
double	getAccelerationMin(int index) Returns the minimum acceleration that a motor will accept, or return.
double	getCurrent(int index) Returns a motor's current usage.
double	getCurrentLimit(int index) Returns the current limit.
double	getCurrentMax(int index) Returns the maximum current that a stepper motor will accept, or return.
double	getCurrentMin(int index) Returns the minimum current that a stepper motor will accept, or return.
long	getCurrentPosition(int index) Returns a motor's current position.
boolean	getEngaged(int index) Returns the engaged state of a motor.
int	getInputCount() Returns the number of digital inputs.
boolean	getInputState(int index) Returns the state of a digital input.
int	getMotorCount() Returns the number of stepper motors supported by this Phidget.
long	getPositionMax(int index) Returns the maximum position that a stepper motor will accept, or return.
long	getPositionMin(int index) Returns the minimum position that a stepper motor will accept, or return.
boolean	getStopped(int index) Returns the stopped state of a motor.
long	getTargetPosition(int index) Returns a motor's target position.
double	getVelocity(int index) Returns a motor's current velocity.
double	getVelocityLimit(int index) Returns a motor's velocity limit.
double	getVelocityMax(int index) Returns the maximum velocity that a stepper motor will accept, or return.
double	getVelocityMin(int index) Returns the minimum velocity that a stepper motor will accept, or return.
void	removeCurrentChangeListener(CurrentChangeListener l)
void	removeInputChangeListener(InputChangeListener l)
void	removeStepperPositionChangeListener(StepperPositionChangeListener l)
void	removeStepperVelocityChangeListener(StepperVelocityChangeListener l)
void	setAcceleration(int index, double acceleration) Sets a motor's acceleration.
void	setCurrentLimit(int index, double current) Sets a motor's current usage limit.
void	setCurrentPosition(int index, long position) Sets a motor's current position.
void	setEngaged(int index, boolean state) Engage or disengage a motor.
void	setTargetPosition(int index, long position) Sets a motor's target position.
void	setVelocityLimit(int index, double velocity) Sets a motor's velocity limit.

Methods inherited from class com.phidgets.Phidget

addAttachListener, addDetachListener, addErrorListener, addServerConnectListener, addServerDisconnectListener, close, disableLogging, enableLogging, equals, getDeviceClass, getDeviceID, getDeviceLabel, getDeviceName, getDeviceType, getDeviceVersion, getLibraryVersion, getSerialNumber, getServerAddress, getServerID, getServerPort, isAttached, isAttachedToServer, log, open, open, open, open, open, openAny, openAny, openAny, openAny, openAny, openLabel, openLabel, openLabel, openLabel, openLabel, removeAttachListener, removeDetachListener, removeErrorListener, removeServerConnectListener, removeServerDisconnectListener, setDeviceLabel, toString, waitForAttachment, waitForAttachment

Methods inherited from class java.lang.Object

getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

StepperPhidget

public StepperPhidget()
               throws PhidgetException

Method Detail

getMotorCount

public int getMotorCount()
                  throws PhidgetException

Returns the number of stepper motors supported by this Phidget. This does not neccesarily correspond to the number of motors actually attached to the board.

Returns:

number of supported motors

Throws:

PhidgetException - If this Phidget is not opened and attached. See open for information on determining if a device is attached.

getInputCount

public int getInputCount()
                  throws PhidgetException

Returns the number of digital inputs. Not all Stepper Controllers have digital inputs.

Returns:

number of digital inputs

Throws:

PhidgetException - If this Phidget is not opened and attached. See open for information on determining if a device is attached.

getInputState

public boolean getInputState(int index)
                      throws PhidgetException

Returns the state of a digital input. True means that the input is activated, and False indicated the default state.

Parameters:

index - index of the input

Returns:

state of the input

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

getAcceleration

public double getAcceleration(int index)
                       throws PhidgetException

Returns a motor's acceleration. The valid range is between getAccelerationMin and getAccelerationMax, and refers to how fast the Stepper Controller will change the speed of a motor.

This value is in (micro)steps per second squared. The step unit will depend on the Stepper Controller. For example, the Bipolar Stepper controller has an accuracy of 16th steps, so this value would be in 16th steps per second squared.

Parameters:

index - index of motor

Returns:

acceleration of motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if the acceleration is unknown. See open for information on determining if a device is attached.

getAccelerationMax

public double getAccelerationMax(int index)
                          throws PhidgetException

Returns the maximum acceleration that a motor will accept, or return.

This value uses the same units as setAcceleration/getAcceleration.

Parameters:

index - Index of the motor

Returns:

Maximum acceleration

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

getAccelerationMin

public double getAccelerationMin(int index)
                          throws PhidgetException

Returns the minimum acceleration that a motor will accept, or return.

This value uses the same units as setAcceleration/getAcceleration.

Parameters:

index - Index of the motor

Returns:

Minimum acceleration

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

setAcceleration

public void setAcceleration(int index,
                            double acceleration)
                     throws PhidgetException

Sets a motor's acceleration. The valid range is between getAccelerationMin and getAccelerationMax. This controls how fast the motor changes speed.

This value is in (micro)steps per second squared. The step unit will depend on the Stepper Controller. For example, the Bipolar Stepper controller has an accuracy of 16th steps, so this value would be in 16th steps per second squared.

Parameters:

index - index of the motor

acceleration - requested acceleration for that motor

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index or acceleration are invalid. See open for information on determining if a device is attached.

getVelocity

public double getVelocity(int index)
                   throws PhidgetException

Returns a motor's current velocity. The valid range is between getVelocityMin and getVelocityMax, with 0 being stopped.

This value is in (micro)steps per second. The step unit will depend on the Stepper Controller. For example, the Bipolar Stepper controller has an accuracy of 16th steps, so this value would be in 16th steps per second.

Parameters:

index - index of the motor

Returns:

current speed of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if the velocity in unknown. See open for information on determining if a device is attached.

getVelocityMax

public double getVelocityMax(int index)
                      throws PhidgetException

Returns the maximum velocity that a stepper motor will accept, or return.

This value uses the same units as setVelocityLimit/getVelocityLimit and getVelocity.

Parameters:

index - Index of the motor

Returns:

Maximum velocity

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

getVelocityMin

public double getVelocityMin(int index)
                      throws PhidgetException

Returns the minimum velocity that a stepper motor will accept, or return.

This value uses the same units as setVelocityLimit/getVelocityLimit and getVelocity.

Parameters:

index - Index of the motor

Returns:

Minimum velocity

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

setVelocityLimit

public void setVelocityLimit(int index,
                             double velocity)
                      throws PhidgetException

Sets a motor's velocity limit. This is the maximum velocity that the motor will turn at. The valid range is between getVelocityMin and getVelocityMax, with 0 being stopped.

This value is in (micro)steps per second. The step unit will depend on the Stepper Controller. For example, the Bipolar Stepper controller has an accuracy of 16th steps, so this value would be in 16th steps per second.

Parameters:

index - index of the motor

velocity - requested velocity for the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index or velocity are invalid. See open for information on determining if a device is attached.

getVelocityLimit

public double getVelocityLimit(int index)
                        throws PhidgetException

Returns a motor's velocity limit. This is the maximum velocity that the motor will turn at. The valid range is between getVelocityMin and getVelocityMax, with 0 being stopped.

This value is in (micro)steps per second. The step unit will depend on the Stepper Controller. For example, the Bipolar Stepper controller has an accuracy of 16th steps, so this value would be in 16th steps per second.

Parameters:

index - index of the motor

Returns:

current speed of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if the velocity in unknown. See open for information on determining if a device is attached.

getPositionMax

public long getPositionMax(int index)
                    throws PhidgetException

Returns the maximum position that a stepper motor will accept, or return.

This value uses the same units as setTargetPosition/getTargetPosition and setCurrentPosition/getCurrentPosition.

Parameters:

index - Index of the motor

Returns:

Maximum position

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

getPositionMin

public long getPositionMin(int index)
                    throws PhidgetException

Returns the minimum position that a stepper motor will accept, or return.

This value uses the same units as setTargetPosition/getTargetPosition and setCurrentPosition/getCurrentPosition.

Parameters:

index - Index of the motor

Returns:

Minimum position

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is invalid. See open for information on determining if a device is attached.

setCurrentPosition

public void setCurrentPosition(int index,
                               long position)
                        throws PhidgetException

Sets a motor's current position. Use this is (re)set the current physical position of the motor to a specific position value. This does not move the motor, and if the motor is moving, calling this will cause it to stop moving. Use setTargetPosition to move the motor to a position. The valid range is between getPositionMin and getPositionMax.

This value is in (micro)steps. The step unit will depend on the Stepper Controller. For example, the Bipolar Stepper controller has an accuracy of 16th steps, so this value would be in 16th steps.

Parameters:

index - index of the motor

position - current position of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index or position are invalid. See open for information on determining if a device is attached.

getCurrentPosition

public long getCurrentPosition(int index)
                        throws PhidgetException

Returns a motor's current position. This is the actual step position that the motor is at right now. The valid range is between getPositionMin and getPositionMax.

This value is in (micro)steps. The step unit will depend on the Stepper Controller. For example, the Bipolar Stepper controller has an accuracy of 16th steps, so this value would be in 16th steps.

Parameters:

index - index of the motor

Returns:

current position of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if the position in unknown. See open for information on determining if a device is attached.

setTargetPosition

public void setTargetPosition(int index,
                              long position)
                       throws PhidgetException

Sets a motor's target position. Use this is set the target position for the stepper. If the stepper is engaged it will start moving towards this target position. The valid range is between getPositionMin and getPositionMax.

This value is in (micro)steps. The step unit will depend on the Stepper Controller. For example, the Bipolar Stepper controller has an accuracy of 16th steps, so this value would be in 16th steps.

Parameters:

index - index of the motor

position - target position of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index or position are invalid. See open for information on determining if a device is attached.

getTargetPosition

public long getTargetPosition(int index)
                       throws PhidgetException

Returns a motor's target position. This is the position that the motor wants to be at. If the motor is not moving, it probably has reached the target position, and this will match current position. The valid range is between getPositionMin and getPositionMax.

This value is in (micro)steps. The step unit will depend on the Stepper Controller. For example, the Bipolar Stepper controller has an accuracy of 16th steps, so this value would be in 16th steps.

Parameters:

index - index of the motor

Returns:

target position of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if the position in unknown. See open for information on determining if a device is attached.

getCurrent

public double getCurrent(int index)
                  throws PhidgetException

Returns a motor's current usage. The valid range is between getCurrentMin and getCurrentMax. This value is in Amps.

Note that this is not supported on all stepper controllers.

Parameters:

index - index of the motor

Returns:

current usage of the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, if the value is unknown, or if this is not supported. See open for information on determining if a device is attached.

getCurrentLimit

public double getCurrentLimit(int index)
                       throws PhidgetException

Returns the current limit.

This value is in Amps.

Parameters:

index - Index of the motor

Returns:

Current Limit

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, if the value is unknown, or if this is not supported. See open for information on determining if a device is attached.

setCurrentLimit

public void setCurrentLimit(int index,
                            double current)
                     throws PhidgetException

Sets a motor's current usage limit. The valid range is between getCurrentMin and getCurrentMax. This sets the maximum current that a motor will be allowed to draw. Use this with the Bipolar stepper controller to get smooth micro stepping - see the product manual for more details. This value is in Amps.

Note that this is not supported on all stepper controllers.

Parameters:

index - index of the motor

current - current limit for the motor

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, if the value is unknown, or if this is not supported. See open for information on determining if a device is attached.

getCurrentMax

public double getCurrentMax(int index)
                     throws PhidgetException

Returns the maximum current that a stepper motor will accept, or return.

This value is in Amps.

Parameters:

index - Index of the motor

Returns:

Maximum current

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if this is not supported. See open for information on determining if a device is attached.

getCurrentMin

public double getCurrentMin(int index)
                     throws PhidgetException

Returns the minimum current that a stepper motor will accept, or return.

This value is in Amps.

Parameters:

index - Index of the motor

Returns:

Minimum current

Throws:

PhidgetException - If this Phidget is not opened and attached, if the index is invalid, or if this is not supported. See open for information on determining if a device is attached.

setEngaged

public void setEngaged(int index,
                       boolean state)
                throws PhidgetException

Engage or disengage a motor.

This engages or disengages the stepper motor. The motors are by default disengaged when the stepper controller is plugged in. When the stepper is disengaged, position, velocity, etc. can all be set, but the motor will not start moving until it is engaged. If position is read when a motor is disengaged, it will throw an exception.

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is out of range. See open for information on determining if a device is attached.

getEngaged

public boolean getEngaged(int index)
                   throws PhidgetException

Returns the engaged state of a motor.

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is out of range. See open for information on determining if a device is attached.

getStopped

public boolean getStopped(int index)
                   throws PhidgetException

Returns the stopped state of a motor. Use this to determine if the motor is moving and/or up to date with the latest commands you have sent. If this is true, the motor is guaranteed to be stopped and to have processed every command issued. Generally, this would be polled after a target position is set to wait until that position is reached.

Throws:

PhidgetException - If this Phidget is not opened and attached, or if the index is out of range. See open for information on determining if a device is attached.

addStepperPositionChangeListener

public final void addStepperPositionChangeListener(StepperPositionChangeListener l)

Adds a position change listener. The position change handler is a method that will be called when the stepper position has changed.

There is no limit on the number of position change handlers that can be registered for a particular Phidget.

Parameters:

l - An implemetation of the StepperPositionChangeListener interface

removeStepperPositionChangeListener

public final void removeStepperPositionChangeListener(StepperPositionChangeListener l)

addStepperVelocityChangeListener

public final void addStepperVelocityChangeListener(StepperVelocityChangeListener l)

Adds a velocity change listener. The velocity change handler is a method that will be called when the stepper velocity has changed.

There is no limit on the number of velocity change handlers that can be registered for a particular Phidget.

Parameters:

l - An implemetation of the StepperVelocityChangeListener interface

removeStepperVelocityChangeListener

public final void removeStepperVelocityChangeListener(StepperVelocityChangeListener l)

addCurrentChangeListener

public final void addCurrentChangeListener(CurrentChangeListener l)

Adds a current change listener. The current change handler is a method that will be called when the stepper current has changed.

There is no limit on the number of current change handlers that can be registered for a particular Phidget.

Note that not all stepper controllers support current sensing.

Parameters:

l - An implemetation of the CurrentChangeListener interface

removeCurrentChangeListener

public final void removeCurrentChangeListener(CurrentChangeListener l)

addInputChangeListener

public final void addInputChangeListener(InputChangeListener l)

Adds an input change listener. The input change handler is a method that will be called when an input on this Stepper Controller board has changed.

There is no limit on the number of input change handlers that can be registered for a particular Phidget.

Parameters:

l - An implemetation of the InputChangeListener interface

removeInputChangeListener

public final void removeInputChangeListener(InputChangeListener l)