NetFTSynchronization

Class NetFTRDTCommand

java.lang.Object

NetFTSynchronization.NetFTRDTCommand

public class NetFTRDTCommand
extends java.lang.Object

Represents an RDT request command from the host to the Net F/T sensor.

Constructor Summary

Constructors

Constructor and Description
NetFTRDTCommand() Create a new NetFTRDTPacket with default field values.
NetFTRDTCommand(int command, long count) Create a new NetFTRDTCommand with specific field values.

Method Summary

Methods

Modifier and Type	Method and Description
int	getCommand() get the mode of the RDT command
long	getCount() Get the number of RDT samples to output
int	getHeader() Gets the header of the RDT command packet
void	setCommand(int newCommand) sets the command mode of the rdt command
void	setCount(long newCount) Set the number of RDT packets to output

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

NetFTRDTCommand

public NetFTRDTCommand()

Create a new NetFTRDTPacket with default field values. The mode will be 1 (loop-driven output), and the count will be 0 (infinite samples)

NetFTRDTCommand

public NetFTRDTCommand(int command,
               long count)

Create a new NetFTRDTCommand with specific field values.

Parameters:

command - The mode to set. 0 = stop, 1 = loop-driven output (good for requesting single packets), 2 = interrupt-driven output (good for requesting a lot of data at high speed)

count - The number of samples to output. A value of 0 will cause the Net F/T to output samples until it is sent another command with the mode field set to 0 (stop mode). This value is sent to the Net F/T as an unsigned four-byte integer, so the largest possible value is 4294967296 ( 2 ^ 32 ).

Method Detail

getHeader

public int getHeader()

Gets the header of the RDT command packet

Returns:

The header of the RDT packet. This is always 0x1234

setCommand

public void setCommand(int newCommand)

sets the command mode of the rdt command

Parameters:

newCommand - the int command to set (1 = main-loop-driven, 2 = interrupt-driven, 0 = stop)

getCommand

public int getCommand()

get the mode of the RDT command

Returns:

0 = stop command, 1= loop driven output (default), 2 = interrupt driven output. Returns int even though underlying data member is a short, because the command is actually unsigned integer from the Net F/T's perspective.

setCount

public void setCount(long newCount)

Set the number of RDT packets to output

Parameters:

newCount - the long number of RDT packets to output (0 = infinite). Cannot be greater then largest unsigned four-byte integer.

getCount

public long getCount()

Get the number of RDT samples to output

Returns:

Number of samples to output. 0 = infinite (default).