org.openpnp.spi

Enum Driver.MotionControlType

java.lang.Object

java.lang.Enum<Driver.MotionControlType>

org.openpnp.spi.Driver.MotionControlType

All Implemented Interfaces:

java.io.Serializable, java.lang.Comparable<Driver.MotionControlType>

Enclosing interface:

Driver

public static enum Driver.MotionControlType
extends java.lang.Enum<Driver.MotionControlType>

The MotionControlType determines how the OpenPnP MotionPlanner will do its planning and how it will talk to the controller.

Enum Constant Summary

Enum Constants

Enum Constant and Description
ConstantAcceleration Apply motion planning assuming a controller with constant acceleration motion control.
EuclideanAxisLimits Apply axis feed-rate, acceleration and jerk limits multiplied by the proper speed factors.
Full3rdOrderControl Apply motion planning assuming a controller with full 3rd order motion control.
ModeratedConstantAcceleration Apply motion planning assuming a controller constant acceleration motion control but moderate the acceleration and velocity to resemble those of 3rd order control, resulting in a move that takes the same amount of time.
SimpleSCurve Apply motion planning assuming a controller with simplified S-Curve motion control.
Simulated3rdOrderControl Apply motion planning assuming a controller constant acceleration motion control but simulating 3rd order control with time step interpolation.
ToolpathFeedRate Apply the nominal driver feed-rate limit multiplied by the speed factor to the tool-path.

Method Summary

Modifier and Type	Method and Description
boolean	isConstantAcceleration()
boolean	isControllingAcceleration()
boolean	isControllingFeedRate()
boolean	isControllingJerk()
boolean	isInterpolated()
boolean	isSupportingUncoordinated()
boolean	isUnpredictable()
static Driver.MotionControlType	valueOf(java.lang.String name) Returns the enum constant of this type with the specified name.
static Driver.MotionControlType[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

ToolpathFeedRate

public static final Driver.MotionControlType ToolpathFeedRate

Apply the nominal driver feed-rate limit multiplied by the speed factor to the tool-path. The driver feed-rate must be specified. No acceleration control is applied.

EuclideanAxisLimits

public static final Driver.MotionControlType EuclideanAxisLimits

Apply axis feed-rate, acceleration and jerk limits multiplied by the proper speed factors. The Euclidean Metric is calculated to allow the machine to run faster in a diagonal. All profile motion control is left to the controller.

ConstantAcceleration

public static final Driver.MotionControlType ConstantAcceleration

Apply motion planning assuming a controller with constant acceleration motion control.

ModeratedConstantAcceleration

public static final Driver.MotionControlType ModeratedConstantAcceleration

Apply motion planning assuming a controller constant acceleration motion control but moderate the acceleration and velocity to resemble those of 3rd order control, resulting in a move that takes the same amount of time.

SimpleSCurve

public static final Driver.MotionControlType SimpleSCurve

Apply motion planning assuming a controller with simplified S-Curve motion control. Simplified S-Curves have no constant acceleration phase, only jerk phases (e.g. TinyG, Marlin).

Simulated3rdOrderControl

public static final Driver.MotionControlType Simulated3rdOrderControl

Apply motion planning assuming a controller constant acceleration motion control but simulating 3rd order control with time step interpolation.

Full3rdOrderControl

public static final Driver.MotionControlType Full3rdOrderControl

Apply motion planning assuming a controller with full 3rd order motion control.

Method Detail

values

public static Driver.MotionControlType[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (Driver.MotionControlType c : Driver.MotionControlType.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static Driver.MotionControlType valueOf(java.lang.String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

java.lang.IllegalArgumentException - if this enum type has no constant with the specified name

java.lang.NullPointerException - if the argument is null

isConstantAcceleration

public boolean isConstantAcceleration()

isInterpolated

public boolean isInterpolated()

isSupportingUncoordinated

public boolean isSupportingUncoordinated()

isUnpredictable

public boolean isUnpredictable()

isControllingFeedRate

public boolean isControllingFeedRate()

isControllingAcceleration

public boolean isControllingAcceleration()

isControllingJerk

public boolean isControllingJerk()