org.openpnp.spi

Interface ControllerAxis

All Superinterfaces:

Axis, CoordinateAxis, Identifiable, LinearInputAxis, Named, PropertySheetHolder, Solutions.Subject, WizardConfigurable

All Known Implementing Classes:

AbstractControllerAxis, ReferenceControllerAxis

public interface ControllerAxis
extends LinearInputAxis, CoordinateAxis

A ControllerAxis is an axis coordinate dimension as exposed by the machine's controller/driver. These can already be Cartesian linear or rotary axed, or raw actuator axes to be transformed by a TransformedAxis.

Nested Class Summary

Nested classes/interfaces inherited from interface org.openpnp.spi.Axis

Axis.Type

Nested classes/interfaces inherited from interface org.openpnp.spi.PropertySheetHolder

PropertySheetHolder.PropertySheet

Method Summary

Modifier and Type	Method and Description
Driver	getDriver()
double	getDriverCoordinate()
Length	getDriverLengthCoordinate()
java.lang.String	getLetter()
double	getMotionLimit(int order) Get the nth order motion limit in AxesLocation units (mm) per second^n.
LengthUnit	getUnits()
boolean	isRotationalOnController()
void	setDriver(Driver driver)
void	setDriverCoordinate(double coordinate)
void	setDriverLengthCoordinate(Length coordinate)
void	setLetter(java.lang.String designator)

Methods inherited from interface org.openpnp.spi.CoordinateAxis

coordinatesMatch, coordinatesMatch, getCoordinate, getHomeCoordinate, getLengthCoordinate, isInSafeZone, setCoordinate, setHomeCoordinate, setLengthCoordinate

Methods inherited from interface org.openpnp.spi.Axis

getType, setType

Methods inherited from interface org.openpnp.model.Identifiable

getId

Methods inherited from interface org.openpnp.model.Named

getName, setName

Methods inherited from interface org.openpnp.spi.WizardConfigurable

getConfigurationWizard

Methods inherited from interface org.openpnp.spi.PropertySheetHolder

getChildPropertySheetHolders, getPropertySheetHolderActions, getPropertySheetHolderIcon, getPropertySheetHolderTitle, getPropertySheets

Methods inherited from interface org.openpnp.model.Solutions.Subject

findIssues, getSubjectIcon, getSubjectText

Method Detail

getDriver

Driver getDriver()

Returns:

the driver through which this ControllerAxis is controlled.

setDriver

void setDriver(Driver driver)

getLetter

java.lang.String getLetter()

Returns:

the letter (X, Y, Z, etc.) of the ControllerAxis as recognized by the machine controller.

setLetter

void setLetter(java.lang.String designator)

getUnits

LengthUnit getUnits()

Returns:

Driver length units.

getDriverCoordinate

double getDriverCoordinate()

Returns:

The driver coordinate in driver units. This is the coordinate that was last sent to the controller. It may not yet reflect the physical machine position. Only after a MotionPlanner.waitForCompletion() can you be sure that the machine is in sync.

setDriverCoordinate

void setDriverCoordinate(double coordinate)

getDriverLengthCoordinate

Length getDriverLengthCoordinate()

setDriverLengthCoordinate

void setDriverLengthCoordinate(Length coordinate)

getMotionLimit

double getMotionLimit(int order)

Get the nth order motion limit in AxesLocation units (mm) per second^n.

Parameters:

order -

Returns:

isRotationalOnController

boolean isRotationalOnController()

Returns:

Whether the axis is handled as rotational in the controller. This happens if the user is forced to use axes that are rotational for linear axes and vice versa.