public interface UntilNodeConfigFactory
Modifier and Type | Method and Description |
---|---|
AnalogInputUntilNodeConfig |
createAnalogInputConfig(AnalogIO input,
CompareOperator compareOperator,
Current currentThreshold,
ErrorHandler<Current> errorHandler)
Creates an I/O Input configuration for an Until node.
|
AnalogInputUntilNodeConfig |
createAnalogInputConfig(AnalogIO input,
CompareOperator compareOperator,
Voltage voltageThreshold,
ErrorHandler<Voltage> errorHandler)
Creates an I/O Input configuration for an Until node.
|
BlendParameters |
createBlendParameters(Blend suggestedBlend)
Creates blend parameters for an Until node.
|
CustomDecelerationParameters |
createDecelerationParameters(Acceleration deceleration,
ErrorHandler<Acceleration> decelerationErrorHandler)
Creates deceleration parameter for an Until node.
|
CustomDecelerationParameters |
createDecelerationParameters(AngularAcceleration deceleration,
ErrorHandler<AngularAcceleration> decelerationErrorHandler)
Creates deceleration parameter for an Until node.
|
CustomDecelerationParameters |
createDecelerationParameters(AngularAcceleration angularDeceleration,
ErrorHandler<AngularAcceleration> angularDecelerationErrorHandler,
Acceleration cartesianDeceleration,
ErrorHandler<Acceleration> cartesianDecelerationErrorHandler)
Creates deceleration parameter for an Until node.
|
DigitalInputUntilNodeConfig |
createDigitalInputConfig(BooleanRegister input,
boolean valueToProceedUntil)
Creates an I/O Input configuration for an Until node.
|
DigitalInputUntilNodeConfig |
createDigitalInputConfig(DigitalIO input,
boolean valueToProceedUntil)
Creates an I/O Input configuration for an Until node.
|
DigitalInputUntilNodeConfig |
createDigitalInputConfig(ModbusIO input,
boolean valueToProceedUntil)
Creates an I/O Input configuration for an Until node.
|
DistanceUntilNodeConfig |
createDistanceConfig()
Creates a Distance configuration for an Until node with PolyScope default values.
|
DistanceUntilNodeConfig |
createDistanceConfig(Length distance,
ErrorHandler<Length> distanceErrorHandler,
BlendParameters blendParameters)
Creates a Distance configuration for an Until node.
|
ExpressionUntilNodeConfig |
createExpressionConfig()
Creates an Expression configuration for an Until node with PolyScope default values.
|
ExpressionUntilNodeConfig |
createExpressionConfig(Expression expression)
Creates an Expression configuration for an Until node with an expression and default value for the deceleration
parameter.
|
ExpressionUntilNodeConfig |
createExpressionConfig(Expression expression,
DecelerationParameters deceleration)
Creates an Expression configuration for an Until node.
|
FloatRegisterInputUntilNodeConfig |
createFloatRegisterInputConfig(FloatRegister input,
CompareOperator compareOperator,
float threshold)
Creates an I/O Input configuration for an Until node.
|
IOInputUntilNodeConfig |
createIOInputConfig()
Creates an I/O Input configuration for an Until node with PolyScope default values, i.e.
|
BlendParameters |
createNoBlendParameters()
Creates no blend parameters for an Until node.
|
ReachedWaypointUntilNodeConfig |
createReachedWaypointConfig()
Creates a Reached Waypoint configuration for an Until node.
|
DecelerationParameters |
createSharedDecelerationParameters()
Creates shared deceleration parameter for an Until node.
|
BlendParameters createNoBlendParameters()
BlendParameters createBlendParameters(Blend suggestedBlend)
suggestedBlend
- This blend value may be (automatically) corrected depending on the value of the
distance parameter the Distance configuration.DecelerationParameters createSharedDecelerationParameters()
CustomDecelerationParameters createDecelerationParameters(AngularAcceleration deceleration, ErrorHandler<AngularAcceleration> decelerationErrorHandler)
deceleration
- the angular deceleration (the value for the Cartesian deceleration will be the default value
that PolyScope uses), not null
.decelerationErrorHandler
- error handler for handling validation. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid angular deceleration value.CustomDecelerationParameters createDecelerationParameters(Acceleration deceleration, ErrorHandler<Acceleration> decelerationErrorHandler)
deceleration
- the Cartesian deceleration (the value for the angular deceleration will be the default value
that PolyScope uses), not null
.decelerationErrorHandler
- error handler for handling validation. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid cartesian deceleration value.CustomDecelerationParameters createDecelerationParameters(AngularAcceleration angularDeceleration, ErrorHandler<AngularAcceleration> angularDecelerationErrorHandler, Acceleration cartesianDeceleration, ErrorHandler<Acceleration> cartesianDecelerationErrorHandler)
angularDeceleration
- the angular deceleration, not null
.angularDecelerationErrorHandler
- error handler for handling validation. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid angular deceleration value.cartesianDeceleration
- the Cartesian deceleration, not null
.cartesianDecelerationErrorHandler
- error handler for handling validation. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid cartesian deceleration value.ExpressionUntilNodeConfig createExpressionConfig()
ExpressionUntilNodeConfig createExpressionConfig(Expression expression)
expression
- the expression whose evaluation will determine whether the until condition is metExpressionUntilNodeConfig createExpressionConfig(Expression expression, DecelerationParameters deceleration)
expression
- the expression whose evaluation will determine whether the until condition is metdeceleration
- the rate of deceleration to stop at once the expression until condition is metDistanceUntilNodeConfig createDistanceConfig()
DistanceUntilNodeConfig createDistanceConfig(Length distance, ErrorHandler<Length> distanceErrorHandler, BlendParameters blendParameters)
distance
- the distance for the robot arm to travel, not null
.distanceErrorHandler
- error handler for handling validation. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid distance value.blendParameters
- the blend to be applied when the distance is metReachedWaypointUntilNodeConfig createReachedWaypointConfig()
IOInputUntilNodeConfig createIOInputConfig()
DigitalInputUntilNodeConfig createDigitalInputConfig(DigitalIO input, boolean valueToProceedUntil)
input
- the digital input whose signal value will determine whether the until condition is met, not null
.valueToProceedUntil
- true
, if the until condition is met when the input signal value goes HIGH,
false
otherwise (condition met when signal value is LOW).IllegalArgumentException
- if input
is an output (does not support reading of values). See IO.isInput()
.DigitalInputUntilNodeConfig createDigitalInputConfig(ModbusIO input, boolean valueToProceedUntil)
input
- the digital MODBUS input whose value will determine whether the until condition is met, not null
.valueToProceedUntil
- true
, if the until condition is met when the input signal value goes HIGH/true,
true
otherwise (condition met when signal value is LOW).IllegalArgumentException
- if input
is an output (does not support reading of values)
or if output
is not a digital output. See IO.isInput()
and IO.getType()
.DigitalInputUntilNodeConfig createDigitalInputConfig(BooleanRegister input, boolean valueToProceedUntil)
true
or false
.input
- the boolean input register whose value will determine whether the until condition is met, not null
.valueToProceedUntil
- true
, if the until condition is met when the register value becomes true
,
false
otherwise (condition met when register value is false
).IllegalArgumentException
- if input
is an output (does not support reading of values). See IO.isInput()
.AnalogInputUntilNodeConfig createAnalogInputConfig(AnalogIO input, CompareOperator compareOperator, Current currentThreshold, ErrorHandler<Current> errorHandler)
input
- the analog input whose signal value will determine whether the until condition is met, not null
.compareOperator
- the operator to use when comparing the signal value of the selected analog input to the threshold
value, not null
. Available options are "less than" (<) or "greater than" (>).currentThreshold
- the electric Current threshold for the signal value of the analog input. Execution will
proceed until the signal value of the selected analog input goes past this threshold.errorHandler
- the error handler for validation errors. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid current value.IllegalArgumentException
- if input
is an output (does not support reading of values). See IO.isInput()
.AnalogInputUntilNodeConfig createAnalogInputConfig(AnalogIO input, CompareOperator compareOperator, Voltage voltageThreshold, ErrorHandler<Voltage> errorHandler)
input
- the analog input whose signal value will determine whether the until condition is met, not null
.compareOperator
- the operator to use when comparing the signal value of the selected analog input to the threshold
value, not null
. Available options are "less than" (<) or "greater than"
(>).voltageThreshold
- the electric Voltage threshold for the signal value of the analog input. Execution will
proceed until the signal value of the selected analog input goes past this threshold.errorHandler
- the error handler for validation errors. If using ErrorHandler.AUTO_CORRECT
this will clamp the value to the nearest valid voltage value.IllegalArgumentException
- if input
is an output (does not support reading of values). See IO.isInput()
.FloatRegisterInputUntilNodeConfig createFloatRegisterInputConfig(FloatRegister input, CompareOperator compareOperator, float threshold)
input
- the float input register whose value will determine whether the until condition is met, not null
.compareOperator
- the operator to use when comparing the value of the selected input register to the threshold
value, not null
. Available options are "less than" (<) or "greater than"
(>).threshold
- the threshold for the value of the float input register. Execution will proceed until the value of
the selected float input register goes past this threshold.IllegalArgumentException
- if input
is an output (does not support reading of values).
See IO.isInput()
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