org.openpnp.spi

Enum MotionPlanner.CompletionType

java.lang.Object

java.lang.Enum<MotionPlanner.CompletionType>

org.openpnp.spi.MotionPlanner.CompletionType

All Implemented Interfaces:

java.io.Serializable, java.lang.Comparable<MotionPlanner.CompletionType>

Enclosing interface:

MotionPlanner

public static enum MotionPlanner.CompletionType
extends java.lang.Enum<MotionPlanner.CompletionType>

Enum Constant Summary

Enum Constants

Enum Constant and Description
CommandJog The motion plan is sent to the drivers, assuming an unfinished motion sequence (e.g.
CommandStillstand The motion plan is sent to the drivers, finishing in still-stand. If the driver supports asynchronous execution, this does not wait for the driver to physically complete.
WaitForStillstand The motion plan is executed with the drivers, finishing in still-stand. This does always wait for the driver to complete i.e.
WaitForStillstandIndefinitely Like WaitForUnconditionalCoordination but wait "forever" i.e.
WaitForUnconditionalCoordination Like WaitForStillStand but the wait will also be done, if no motion is thought to be pending (used when it is though that the machine might have moved through custom Actuator Gcode, the ContactProbeNozzle Probe actuator is one example).

Method Summary

Modifier and Type	Method and Description
boolean	isEnforcingStillstand()
boolean	isUnconditionalCoordination()
boolean	isWaitingForDrivers()
static MotionPlanner.CompletionType	valueOf(java.lang.String name) Returns the enum constant of this type with the specified name.
static MotionPlanner.CompletionType[]	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

CommandJog

public static final MotionPlanner.CompletionType CommandJog

The motion plan is sent to the drivers, assuming an unfinished motion sequence (e.g. when Jogging). More specifically, the motion planner's deceleration to still-stand will not be enforced, it is entirely up to the controller. If a subsequent motion command arrives soon enough, there might be no (or less) deceleration between the moves.
If the driver supports asynchronous execution, this does not wait for the driver to physically complete.

CommandStillstand

public static final MotionPlanner.CompletionType CommandStillstand

The motion plan is sent to the drivers, finishing in still-stand.
If the driver supports asynchronous execution, this does not wait for the driver to physically complete.

WaitForStillstand

public static final MotionPlanner.CompletionType WaitForStillstand

The motion plan is executed with the drivers, finishing in still-stand.
This does always wait for the driver to complete i.e. the caller can be sure the machine has physically arrived at the final location.

WaitForUnconditionalCoordination

public static final MotionPlanner.CompletionType WaitForUnconditionalCoordination

Like WaitForStillStand but the wait will also be done, if no motion is thought to be pending (used when it is though that the machine might have moved through custom Actuator Gcode, the ContactProbeNozzle Probe actuator is one example).

WaitForStillstandIndefinitely

public static final MotionPlanner.CompletionType WaitForStillstandIndefinitely

Like WaitForUnconditionalCoordination but wait "forever" i.e. with very long timeout. Used e.g. for homing.

Method Detail

values

public static MotionPlanner.CompletionType[] 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 (MotionPlanner.CompletionType c : MotionPlanner.CompletionType.values())
    System.out.println(c);

Returns:

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

valueOf

public static MotionPlanner.CompletionType 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

isEnforcingStillstand

public boolean isEnforcingStillstand()

isWaitingForDrivers

public boolean isWaitingForDrivers()

isUnconditionalCoordination

public boolean isUnconditionalCoordination()