com.kuka.roboticsAPI.capabilities.driveBrakeTest
Class DriveBrakeTestResult

java.lang.Object
  com.kuka.roboticsAPI.capabilities.driveBrakeTest.DriveBrakeTestResult

public class DriveBrakeTestResult
extends Object

Class used to store the drive brake test result for one motor.

Constructor Summary

DriveBrakeTestResult(int axisIndex, long timestamp, double commandedTorque, double measuredTorque, int result)
Creates a new DriveBrakeTestResult.

Method Summary

int	getAxisIndex()
double	getCommandedTorque()
double	getMeasuredTorque()
int	getResult()
long	getTimestamp()
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

DriveBrakeTestResult

public DriveBrakeTestResult(int axisIndex,
                            long timestamp,
                            double commandedTorque,
                            double measuredTorque,
                            int result)

Creates a new DriveBrakeTestResult.

Parameters:

axisIndex - index of the tested axis

timestamp - when did the drive brake test run

measuredTorque - the measured maximal brake torque

commandedTorque - the commanded torque

result - the result

Method Detail

getAxisIndex

public int getAxisIndex()

Returns:

the index of the axis

getTimestamp

public long getTimestamp()

Returns:

the timestamp

getMeasuredTorque

public double getMeasuredTorque()

Returns:

the measured maximal brake torque

getCommandedTorque

public double getCommandedTorque()

Returns:

the commanded torque

getResult

public int getResult()

Returns:

the result which is 0, if the test is executed correctly 1, if the enabling button was released during the test of the axis 2, if timeout happened during the test of the axis 3, if the measured torque value is lower than expected 4, if the drive was not stopped properly during the previous test of the axis 5, if brake test execution failed on the axis

toString

public String toString()

Overrides:

toString in class Object