com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.kmp
Class PlatformBrakeTestPipe

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.ActiveDevice
          com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.kmp.PlatformBrakeTestPipe

All Implemented Interfaces:

com.kuka.common.IDataEquatable, com.kuka.roboticsAPI.controllerModel.sunrise.api.expressions.IExpressionSegment, com.kuka.roboticsAPI.controllerModel.sunrise.api.ISprComponent, com.kuka.roboticsAPI.controllerModel.sunrise.connectionLib.ISegment

public class PlatformBrakeTestPipe
extends com.kuka.roboticsAPI.controllerModel.sunrise.api.ActiveDevice

Pipe to test platform wheels' brakes.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Field Summary

Fields inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.ActiveDevice

FINISH_MAINTAINING, STOP_REQUEST

Constructor Summary

PlatformBrakeTestPipe(String pipeName)
Creates a platform brake test pipe with the given name.

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getBrakeTestStatePort() Gets the OutPort signalling the current brake test state.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getStopMotionRequest() Gets the InPort signaling a stop motion request.
void	setTimeout(double timeout) Sets the timeout to be applied to the brake test.
void	setTorque(double torque) Sets the torque to be applied while testing.
void	setWheelId(int wheelId) Sets the wheel to be brake-tested.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.ActiveDevice

getAlias, getComponentType, getComponentVersion, getDebug, getFinishMaintainingInport, getInstanceName, getMaintainTimeout, getPipeName, getStopRequest, hasSameDataAs, setAlias, setInstanceName, setMaintainTimeout, setPipeName

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent

addInPort, addInPort, addOutPort, addOutPort, addParameter, getChecksum, getExpressionSegmentString, getInPort, getInPorts, getName, getOutPort, getOutPorts, getParameter, getParameterList, getSPR, onAsyncEvent, onFinished, onInitialize, onSerialization, onSPRStateChanged, onSPRStateChangedSync, setName, toString, tryGetParameter

Methods inherited from class java.lang.Object

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

Constructor Detail

PlatformBrakeTestPipe

public PlatformBrakeTestPipe(String pipeName)

Creates a platform brake test pipe with the given name.

Parameters:

pipeName - Name of the pipe

Method Detail

setWheelId

public void setWheelId(int wheelId)

Sets the wheel to be brake-tested.

Parameters:

wheelId - ID of the wheel (0/1/2/3 - FR/FL/RR/RL)

setTorque

public void setTorque(double torque)

Sets the torque to be applied while testing.

Parameters:

torque - Torque [Nm]

setTimeout

public void setTimeout(double timeout)

Sets the timeout to be applied to the brake test.

Parameters:

timeout - The timeout to be applie.d to the brake test

getBrakeTestStatePort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getBrakeTestStatePort()

Gets the OutPort signalling the current brake test state.

Returns:

OutPort of the current brake test state 0 - Not started yet 1 - Pending 2 - In progress 3 - Finished with error(s) 4 - Finished successfully

getStopMotionRequest

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getStopMotionRequest()

Gets the InPort signaling a stop motion request.

Returns:

The InPort signaling a stop motion request.