com.kuka.roboticsAPI.capabilities.floorMountedCharge
Class FloorMountedChargeCapability

java.lang.Object
  com.kuka.roboticsAPI.capabilities.floorMountedCharge.FloorMountedChargeCapability

All Implemented Interfaces:

IFloorMountedChargeCapability, ICapability

public class FloorMountedChargeCapability
extends Object
implements IFloorMountedChargeCapability

Class for floor mounted battery charge functionalities.

Constructor Summary

FloorMountedChargeCapability(com.kuka.roboticsAPI.controllerModel.Controller controller)
Creates an instance of a charge capability.

FloorMountedChargeCapability(com.kuka.roboticsAPI.ioModel.Input chargeSocketConnectedIO, com.kuka.roboticsAPI.ioModel.Output enableChargeIO, com.kuka.roboticsAPI.ioModel.Input totalMeasuredCurrentIO, com.kuka.roboticsAPI.ioModel.Output chargeRelayIO, com.kuka.roboticsAPI.ioModel.Input batteryStateOfChargeIO)
Creates an instance of a charge capability (for testing purposes).

FloorMountedChargeCapability(com.kuka.roboticsAPI.ioModel.Input chargeSocketConnectedIO, com.kuka.roboticsAPI.ioModel.Output enableChargeIO, com.kuka.roboticsAPI.ioModel.Input totalMeasuredCurrentIO, com.kuka.roboticsAPI.ioModel.Output chargeRelayIO, com.kuka.roboticsAPI.ioModel.Input batteryStateOfChargeIO, com.kuka.roboticsAPI.ioModel.Output enableExternalChargeIO)
Creates an instance of a charge capability (for testing purposes).

Method Summary

void	enableCharge() Enables floor mounted charge.
void	enableCharge(ChargingType chargingType, int parameter) Enables floor mounted charging.
protected boolean	enableChargeOnBMS(boolean enableCharge) Sets the charging enabling IO to the given value.
boolean	givenAppStartedACharge(String applicationName)
protected boolean	isSideSocketPlugConnected() Returns whether the side socket is plugged in or not.
void	stopCharge() Stops the floor mounted charging and release motions lock.
void	terminateChargerThread() Terminates the charger thread.

Methods inherited from class java.lang.Object

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

Constructor Detail

FloorMountedChargeCapability

public FloorMountedChargeCapability(com.kuka.roboticsAPI.controllerModel.Controller controller)

Creates an instance of a charge capability.

Parameters:

controller - the controller instance with the requested IOs.

FloorMountedChargeCapability

public FloorMountedChargeCapability(com.kuka.roboticsAPI.ioModel.Input chargeSocketConnectedIO,
                                    com.kuka.roboticsAPI.ioModel.Output enableChargeIO,
                                    com.kuka.roboticsAPI.ioModel.Input totalMeasuredCurrentIO,
                                    com.kuka.roboticsAPI.ioModel.Output chargeRelayIO,
                                    com.kuka.roboticsAPI.ioModel.Input batteryStateOfChargeIO)

Creates an instance of a charge capability (for testing purposes).

Parameters:

chargeSocketConnectedIO - The charge socket connected IO.

enableChargeIO - The enable charge IO.

totalMeasuredCurrentIO - The measured current IO.

chargeRelayIO - The charge relay IO.

batteryStateOfChargeIO - The battery state of charge IO.

FloorMountedChargeCapability

public FloorMountedChargeCapability(com.kuka.roboticsAPI.ioModel.Input chargeSocketConnectedIO,
                                    com.kuka.roboticsAPI.ioModel.Output enableChargeIO,
                                    com.kuka.roboticsAPI.ioModel.Input totalMeasuredCurrentIO,
                                    com.kuka.roboticsAPI.ioModel.Output chargeRelayIO,
                                    com.kuka.roboticsAPI.ioModel.Input batteryStateOfChargeIO,
                                    com.kuka.roboticsAPI.ioModel.Output enableExternalChargeIO)

Creates an instance of a charge capability (for testing purposes).

Parameters:

chargeSocketConnectedIO - The charge socket connected IO.

enableChargeIO - The enable charge IO.

enableExternalChargeIO - The enable external charge IO.

totalMeasuredCurrentIO - The measured current IO.

chargeRelayIO - The charge relay IO.

batteryStateOfChargeIO - The battery state of charge IO.

Method Detail

enableCharge

public void enableCharge()

Description copied from interface: IFloorMountedChargeCapability

Enables floor mounted charge. Charge will be active while application is running. All motions are disabled when charging is active. Please note that this call is asynchronous during charging. Charging will be disabled, when current application is finished. When command is called, the presence of the charging current is checked and if no charging current is detected within 30sec after relay switch, exception is thrown. This check is synchronous and will block the running for 30 sec.

Specified by:

enableCharge in interface IFloorMountedChargeCapability

enableCharge

public void enableCharge(ChargingType chargingType,
                         int parameter)

Description copied from interface: IFloorMountedChargeCapability

Enables floor mounted charging. All motions are disabled when charging is active. Charging will be disabled, when current application is stopped.

Specified by:

enableCharge in interface IFloorMountedChargeCapability

Parameters:

chargingType - specifies if the charging should go on for a given type, or until a given SOC. This call is a blocking call, the application run will be stopped until charge reach the desired SOC or timeout.

parameter - The timeout in seconds or percentage of SOC for charge.

See Also:

ChargingType

givenAppStartedACharge

public boolean givenAppStartedACharge(String applicationName)

stopCharge

public void stopCharge()

Description copied from interface: IFloorMountedChargeCapability

Stops the floor mounted charging and release motions lock.

Specified by:

stopCharge in interface IFloorMountedChargeCapability

terminateChargerThread

public void terminateChargerThread()

Description copied from interface: IFloorMountedChargeCapability

Terminates the charger thread.

Specified by:

terminateChargerThread in interface IFloorMountedChargeCapability

isSideSocketPlugConnected

protected boolean isSideSocketPlugConnected()

Returns whether the side socket is plugged in or not.

Returns:

side socket plugged in

enableChargeOnBMS

protected boolean enableChargeOnBMS(boolean enableCharge)

Sets the charging enabling IO to the given value.

Parameters:

enableCharge - value to set

Returns:

true if there was a change, false if there was no change