org.openpnp.spi

Interface Movable

All Superinterfaces:

Locatable

All Known Subinterfaces:

Actuator, Camera, HeadMountable, MovableMountable, Nozzle, ReferenceHeadMountable

All Known Implementing Classes:

AbstractActuator, AbstractBroadcastingCamera, AbstractCamera, AbstractHeadMountable, AbstractNozzle, AbstractSettlingCamera, BufferedImageCamera, ContactProbeNozzle, HttpActuator, ImageCamera, MjpgCaptureCamera, Neoden4Camera, NeoDen4FeederActuator, Neoden4SwitcherCamera, OnvifIPCamera, OpenCvCamera, OpenPnpCaptureCamera, ReferenceActuator, ReferenceCamera, ReferenceNozzle, ScriptActuator, SimulatedUpCamera, SwitcherCamera, ThermistorToLinearSensorActuator, Webcams

public interface Movable
extends Locatable

Nested Class Summary

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

Locatable.LocationOption

Method Summary

Modifier and Type	Method and Description
Length	getEffectiveSafeZ()
Length	getSafeZ()
Length[]	getSafeZZone()
void	home() Perform any homing operation on each movable.
boolean	isInSafeZZone(Length z)
boolean	isReachable(Location location)
void	moveTo(Location location, double speed, Motion.MotionOption... options) Move the object to the Location at the feedRate.
void	moveTo(Location location, Motion.MotionOption... options)
void	moveToSafeZ()
void	moveToSafeZ(double speed)

Methods inherited from interface org.openpnp.spi.Locatable

getApproximativeLocation, getLocation

Method Detail

moveTo

void moveTo(Location location,
            double speed,
            Motion.MotionOption... options)
     throws java.lang.Exception

Move the object to the Location at the feedRate.

Parameters:

location - The Location to move to. If the movement should not include a particular axis, specify Double.NaN for that axis.

speed - Feed rate is specified as a percentage of maximum feed between 0 and 1. 1 specifies maximum feed rate as defined by the machine while 0 defines the absolute minimum feed rate while still moving.

Throws:

java.lang.Exception

moveTo

void moveTo(Location location,
            Motion.MotionOption... options)
     throws java.lang.Exception

Throws:

java.lang.Exception

isReachable

boolean isReachable(Location location)
             throws java.lang.Exception

Parameters:

location -

Returns:

true if the location can be moved to with this Movable (soft limits etc.)

Throws:

java.lang.Exception

getSafeZZone

Length[] getSafeZZone()

Returns:

The lower and upper limits of the Safe Zone as defined on the Z axis. The array elements may be null if no axis is mapped on the Movable or no Safe Zone defined on the axis.

getSafeZ

Length getSafeZ()

Returns:

The lower limit of the Safe Zone as defined on the Z axis, or null if now axis is mapped on the Movable or no Safe Zone defined on the axis.

getEffectiveSafeZ

Length getEffectiveSafeZ()
                  throws java.lang.Exception

Returns:

The effective Safe Z, including any dynamic adjustment such as for parts on a Nozzle.

Throws:

java.lang.Exception

isInSafeZZone

boolean isInSafeZZone(Length z)
               throws java.lang.Exception

Parameters:

z -

Returns:

True if the given z is in the Safe Z Zone.

Throws:

java.lang.Exception

moveToSafeZ

void moveToSafeZ(double speed)
          throws java.lang.Exception

Throws:

java.lang.Exception

moveToSafeZ

void moveToSafeZ()
          throws java.lang.Exception

Throws:

java.lang.Exception

home

void home()
   throws java.lang.Exception

Perform any homing operation on each movable. The head and driver have already been homed at this time.

Throws:

java.lang.Exception