public void moveTo(float inputX) {
if (controller == null) {
error(String.format("%s's controller is not set", getName()));
return;
}
// the magic mapping
float outputY = calc(inputX);
if (outputY > outputYMax || outputY < outputYMin) {
if ((int) outputY == outputY) {
warn(String.format("%s.moveTo(%d) out of range", getName(), (int) outputY));
} else {
warn(String.format("%s.moveTo(%f) out of range", getName(), outputY));
}
return;
}
// FIXME - currently their is no timerPosition
// this could be gotten with 100 * outputY for some valid range
log.info("servoWrite({})", outputY);
controller.servoWrite(getName(), (int) outputY);
lastActivityTime = System.currentTimeMillis();
this.inputX = inputX;
}
@Override
public String getControllerName() {
if (controller == null) {
return null;
}
return controller.getName();
}
public void setSpeed(Float speed) {
if (speed == null) {
return;
}
if (controller == null) {
error("setSpeed - controller not set");
return;
}
controller.setServoSpeed(getName(), speed);
}
public boolean detach() {
if (!isAttached) {
log.info(String.format("%s.detach() - already detach - attach first", getName()));
return false;
}
if (controller != null) {
if (controller.servoDetach(getName())) {
isAttached = false;
// changed state
broadcastState();
return true;
}
}
return false;
}
/* (non-Javadoc)
* @see org.myrobotlab.service.interfaces.ServoControl#attach()
*/
public boolean attach() {
lastActivityTime = System.currentTimeMillis();
if (isAttached) {
log.info(String.format("%s.attach() - already attached - detach first", getName()));
return false;
}
if (controller == null) {
error("no valid controller can not attach %s", getName());
return false;
}
isAttached = controller.servoAttach(getName(), pin);
if (isAttached) {
// changed state
broadcastState();
}
return isAttached;
}
/* (non-Javadoc)
* @see org.myrobotlab.service.interfaces.ServoControl#stopServo()
*/
@Override
public void stopServo() {
controller.servoStop(getName());
}