Axis.java

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// -----------------------------------------------------------------------
// MLPI - <Axis.java>
// -----------------------------------------------------------------------
// Copyright (c) 2012 Bosch Rexroth. All rights reserved.
// Redistribution and use in source and binary forms of this MLPI software
// (SW) provided to you, with or without modification, are permitted
// without prior approval provided that the following conditions are met:
//
// 1. Redistributions of source code of SW must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form of SW must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. User recognizes and acknowledges that it acquires no right,
// title or interest in or to any of the names or trademarks used in
// connection with the SW ("names") by virtue of this License and waives
// any right to or interest in the names. User recognizes and acknowledges
// that names of companies or names or products of companies displayed
// in the documentation of SW to indicate the interoperability of products
// with the SW are the names of their respective owners. The use of such
// names in the documentation of SW does not imply any sponsorship,
// approval, or endorsement by such companies of this product.
//
// 4. Modified code versions, i.e. any addition to or deletion from
// the substance or structure of the original code of the SW running
// the MLPI must be plainly marked as such and must not be misrepresented
// as being original SW.
//
// 5. The SW may only be used in connection with a Bosch Rexroth product.
//
// THIS INFORMATION IS PROVIDED BY BOSCH REXROTH CORPORATION "AS IS"
// AND WITHOUT WARRANTY OF ANY KIND, EXPRESSED OR IMPLIED, INCLUDING
// (BUT NOTLIMITED TO) ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR ANY PARTICULAR PURPOSE, OR NON-INFRINGEMENT. WHILE THE
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// THE APPLICABLE LAW FOR THIS LICENSE BOSCH REXROTH CORPORATION WILL
// NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND ARISING FROM THE USE OF
// THE  SOFTWARE  DISTRIBUTED HEREUNDER, INCLUDING BUT NOT LIMITED TO
// DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, AND CONSEQUENTIAL DAMAGES.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------
package com.boschrexroth.mlpi;

public class Axis extends MlpiComponent {
  /*
   * Fields
   */
  private final Motion.AxisRef _axisRef;
  private final Movement _movement;

  /*
   * Methods
   */
  Axis(MlpiHandle connection, Motion.AxisRef axisRef) {
    super(connection);
    _axisRef = axisRef;
    _movement = new Movement(getConnectionHandleObject(), _axisRef);
  }
  public Motion.AxisRef getAxisRef() {
    return _axisRef;
  }
  public Movement movement() {
    return _movement;
  }

  public native double getActualPosition();
  
  public native double getActualVelocity();
  
  public native double getActualAcceleration();
  
  public native double getActualTorque();
  
  public native double getInterpolatedPosition();
  
  public native double getInterpolatedVelocity();
  
  public native double getInterpolatedTorque();
  
  public native int getDiagnosisNumber();
  
  public native String getDiagnosisText();
  
  public native void loadDefaultParameters();
  
  public native void clearError();
  
  public native String getName();
  
  public native void setName(String name);
  
  public native double getModulo();
  
  public native void setModulo(double modulo);
  
  public native double getPositionLimitPos();
  
  public native void setPositionLimitPos(double positionLimit);
  
  public native double getPositionLimitNeg();
  
  public native void setPositionLimitNeg(double positionLimit);
  
  public native double getVelocityLimitPos();
  
  public native void setVelocityLimitPos(double velocityLimit);
  
  public native double getVelocityLimitNeg();
  
  public native void setVelocityLimitNeg(double velocityLimit);
  
  public native double getVelocityLimitBip();
  
  public native void setVelocityLimitBip(double velocityLimit);
  
  public native double getAccelerationLimitBip();
  
  public native void setAccelerationLimitBip(double accelerationLimit);
  
  public native double getJerkLimitBip();
  
  public native void setJerkLimitBip(double jerkLimit);
  
  public native double getTorqueLimitPos();
  
  public native void setTorqueLimitPos(double torqueLimit);
  
  public native double getTorqueLimitNeg();
  
  public native void setTorqueLimitNeg(double torqueLimit);
  
  public native double getTorqueLimitBip();
  
  public native void setTorqueLimitBip(double torqueLimit);
  
  public native double getSlaveDriveFeedTravel();
  
  public native void setSlaveDriveFeedTravel(double feedtravel);

  // redesign:
  //public native Motion.AxisMode getMode();
  //public native void setMode(Motion.AxisMode axisMode);
  //public native getState([out, retval] VARIANT* state);
  //public native getStateExtended([out, retval] VARIANT* stateExtended);
  //public native getAxisType([out, retval] VARIANT* type);
  //public native getCondition([out, retval] VARIANT* condition);
  //public native getCondition([in] VARIANT condition);
}