NetFTSynchronization

Class NetFTRDTPacket

java.lang.Object

NetFTSynchronization.NetFTRDTPacket

All Implemented Interfaces:

java.lang.Comparable

public class NetFTRDTPacket
extends java.lang.Object
implements java.lang.Comparable

Represents an F/T record received from the Net F/T via RDT.

Constructor Summary

Constructors

Constructor and Description
NetFTRDTPacket(int[] fields) Create a new NetFTRDTPacket object
NetFTRDTPacket(int setRDTSequence, int setFTSequence, int setStatus, int setFx, int setFy, int setFz, int setTx, int setTy, int setTz) Create a new NetFTRDTPacket object.

Method Summary

Methods

Modifier and Type	Method and Description
int	compareTo(NetFTRDTPacket o)
int	compareTo(java.lang.Object o)
int[]	getFTArray()
long	getFTSequence() Get the FT sequence number of this packet.
int	getFx() Get the force in the x-axis
int	getFy() Get the force in the y-axis.
int	getFz() Get the force in the z-axis.
long	getRDTSequence() Get the RDT sequence number of this packet.
int	getStatus() Get the bit-mapped status code of this packet.
int	getTx() Get the torque in the x-axis.
int	getTy() Get the torque in the y-axis.
int	getTz() Get the torque in the z-axis.

Methods inherited from class java.lang.Object

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

Constructor Detail

NetFTRDTPacket

public NetFTRDTPacket(int setRDTSequence,
              int setFTSequence,
              int setStatus,
              int setFx,
              int setFy,
              int setFz,
              int setTx,
              int setTy,
              int setTz)

Create a new NetFTRDTPacket object.

Parameters:

setRDTSequence - The RDT sequence of this packet.

setFTSequence - The F/T sequence of this packet.

setStatus - The bit-mapped status code of this packet.

setFx - The force in the x-axis, in engineering units.

setFy - The force in the y-axis, in engineering units.

setFz - The force in the z-axis, in engineering units.

setTx - The torque in the x-axis, in engineering units.

setTy - The torque in the y-axis, in engineering units.

setTz - The torque in the z-axis, in engineering units.

NetFTRDTPacket

public NetFTRDTPacket(int[] fields)

Create a new NetFTRDTPacket object

Parameters:

fields - The fields of the RDT data packet, in the order RDTSequence, FTSequence, Status, Fx, Fy, Fz, Tx, Ty, Tz

Method Detail

getRDTSequence

public long getRDTSequence()

Get the RDT sequence number of this packet. The RDT sequence number increases by one for each packet that is sent, and thus can be used to determine the total number of packets that have been sent by the sensor.

Returns:

RDT sequence number of this packet.

getFTSequence

public long getFTSequence()

Get the FT sequence number of this packet. The F/T sequence number increases at the internal sample rate of the Net F/T sensor, and thus can be used to time-stamp the data.

Returns:

FT sequence number of this packet.

getStatus

public int getStatus()

Get the bit-mapped status code of this packet.

Returns:

The bit-mapped int status code.

getFx

public int getFx()

Get the force in the x-axis

Returns:

The force in the x-axis, in engineering units.

getFy

public int getFy()

Get the force in the y-axis.

Returns:

The force in the y-axis, in engineering units.

getFz

public int getFz()

Get the force in the z-axis.

Returns:

The force in the z-axis, in engineering units.

getTx

public int getTx()

Get the torque in the x-axis.

Returns:

The torque in the x-axis, in engineering units.

getTy

public int getTy()

Get the torque in the y-axis.

Returns:

The torque in the y-axis, in engineering units.

getTz

public int getTz()

Get the torque in the z-axis.

Returns:

the torque in the z-axis, in engineering units.

getFTArray

public int[] getFTArray()

compareTo

public int compareTo(NetFTRDTPacket o)

compareTo

public int compareTo(java.lang.Object o)

Specified by:

compareTo in interface java.lang.Comparable