com.yoctopuce.YoctoAPI

Class YOrientation

java.lang.Object

com.yoctopuce.YoctoAPI.YFunction

com.yoctopuce.YoctoAPI.YSensor

com.yoctopuce.YoctoAPI.YOrientation

public class YOrientation
extends YSensor

YOrientation Class: orientation sensor control interface The YOrientation class allows you to read and configure Yoctopuce orientation sensors. It inherits from YSensor class the core functions to read measurements, to register callback functions, and to access the autonomous datalogger.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static interface	YOrientation.TimedReportCallback TimedReportCallback for Orientation
static interface	YOrientation.UpdateCallback Deprecated UpdateCallback for Orientation

Field Summary

Fields

Modifier and Type	Field and Description
protected String	_command
protected int	_counterClockwise
protected YOrientation.TimedReportCallback	_timedReportCallbackOrientation
protected YOrientation.UpdateCallback	_valueCallbackOrientation
protected double	_zeroOffset
static String	COMMAND_INVALID invalid command value
static int	COUNTERCLOCKWISE_FALSE invalid counterClockwise value
static int	COUNTERCLOCKWISE_INVALID
static int	COUNTERCLOCKWISE_TRUE
static double	ZEROOFFSET_INVALID invalid zeroOffset value

Fields inherited from class com.yoctopuce.YoctoAPI.YSensor

_advMode, _cal, _calibrationParam, _currentRawValue, _currentValue, _highestValue, _iresol, _logFrequency, _lowestValue, _prevTR, _reportFrequency, _resolution, _sensorState, _timedReportCallbackSensor, _unit, _valueCallbackSensor, ADVMODE_IMMEDIATE, ADVMODE_INVALID, ADVMODE_PERIOD_AVG, ADVMODE_PERIOD_MAX, ADVMODE_PERIOD_MIN, CALIBRATIONPARAM_INVALID, CURRENTRAWVALUE_INVALID, CURRENTVALUE_INVALID, HIGHESTVALUE_INVALID, LOGFREQUENCY_INVALID, LOWESTVALUE_INVALID, REPORTFREQUENCY_INVALID, RESOLUTION_INVALID, SENSORSTATE_INVALID, UNIT_INVALID

Fields inherited from class com.yoctopuce.YoctoAPI.YFunction

_advertisedValue, _cacheExpiration, _className, _dataStreams, _func, _funId, _hwId, _lastErrorMsg, _lastErrorType, _logicalName, _serial, _userData, _valueCallbackFunction, _yapi, ADVERTISEDVALUE_INVALID, FUNCTIONDESCRIPTOR_INVALID, LOGICALNAME_INVALID

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	YOrientation(String func)
protected	YOrientation(YAPIContext ctx, String func)

Method Summary

Modifier and Type	Method and Description
int	_invokeTimedReportCallback(YMeasure value)
int	_invokeValueCallback(String value)
protected void	_parseAttr(com.yoctopuce.YoctoAPI.YJSONObject json_val)
int	clearCalibration() Cancels any calibration set with set_calibration.
static YOrientation	FindOrientation(String func) Retrieves an orientation sensor for a given identifier.
static YOrientation	FindOrientationInContext(YAPIContext yctx, String func) Retrieves an orientation sensor for a given identifier in a YAPI context.
static YOrientation	FirstOrientation() Starts the enumeration of orientation sensors currently accessible.
static YOrientation	FirstOrientationInContext(YAPIContext yctx) Starts the enumeration of orientation sensors currently accessible.
int	get_Calibration(ArrayList<Double> offsetValues) Retrieves offset correction data points previously entered using the method set_calibration.
String	get_command()
int	get_counterClockwise() Returns a value indicating whether the sensor is operating in a counterclockwise direction.
double	get_zeroOffset() Returns the Offset between the orientation reported by the sensor and the actual orientation.
int	getCounterClockwise() Returns a value indicating whether the sensor is operating in a counterclockwise direction.
double	getZeroOffset() Returns the Offset between the orientation reported by the sensor and the actual orientation.
YOrientation	nextOrientation() Continues the enumeration of orientation sensors started using yFirstOrientation().
int	registerTimedReportCallback(YOrientation.TimedReportCallback callback) Registers the callback function that is invoked on every periodic timed notification.
int	registerValueCallback(YOrientation.UpdateCallback callback) Registers the callback function that is invoked on every change of advertised value.
int	sendCommand(String command)
int	set_calibration(ArrayList<Double> offsetValues) Modifies the calibration of the MA600A sensor using an array of 32 values representing the offset in degrees between the true values and those measured regularly every 11.25 degrees starting from zero.
int	set_command(String newval)
int	set_counterClockwise(int newval) Defines the operating direction of the sensor.
int	set_zeroOffset(double newval) Sets an offset between the orientation reported by the sensor and the actual orientation.
int	setCounterClockwise(int newval) Defines the operating direction of the sensor.
int	setZeroOffset(double newval) Sets an offset between the orientation reported by the sensor and the actual orientation.
int	zero() Reset the sensor's zero to current position by automatically setting a new offset.

Methods inherited from class com.yoctopuce.YoctoAPI.YSensor

_applyCalibration, _decodeAvg, _decodeTimedReport, _decodeVal, _encodeCalibrationPoints, _parseCalibStr, _parserHelper, calibrateFromPoints, FindSensor, FindSensorInContext, FirstSensor, FirstSensorInContext, get_advMode, get_calibrationParam, get_currentRawValue, get_currentValue, get_dataLogger, get_highestValue, get_logFrequency, get_lowestValue, get_recordedData, get_reportFrequency, get_resolution, get_sensorState, get_unit, getAdvMode, getCurrentRawValue, getCurrentValue, getHighestValue, getLogFrequency, getLowestValue, getReportFrequency, getResolution, getSensorState, getUnit, isSensorReady, loadCalibrationPoints, nextSensor, registerTimedReportCallback, registerValueCallback, set_advMode, set_calibrationParam, set_highestValue, set_logFrequency, set_lowestValue, set_reportFrequency, set_resolution, setAdvMode, setHighestValue, setLogFrequency, setLowestValue, setReportFrequency, setResolution, startDataLogger, stopDataLogger

Methods inherited from class com.yoctopuce.YoctoAPI.YFunction

_AddToCache, _clearDataStreamCache, _decode_json_int, _decode_json_string, _download, _escapeAttr, _FindFromCache, _FindFromCacheInContext, _get_json_path_struct, _get_json_path, _is_valid_pass, _json_get_array, _json_get_key, _json_get_string, _parse, _setAttr, _throw, _UpdateTimedReportCallbackList, _UpdateValueCallbackList, _upload, _upload, _uploadEx, clearCache, describe, errMessage, errorMessage, errorType, errType, FindFunction, FindFunctionInContext, FirstFunction, FirstFunctionInContext, functionDescriptor, get_advertisedValue, get_errorMessage, get_errorType, get_friendlyName, get_functionDescriptor, get_functionId, get_hardwareId, get_logicalName, get_module, get_serialNumber, get_userData, getAdvertisedValue, getErrorMessage, getErrorType, getFriendlyName, getFunctionDescriptor, getFunctionId, getHardwareId, getLogicalName, getModule, getUserData, isOnline, isReadOnly, load, loadAttribute, module, muteValueCallbacks, nextFunction, registerValueCallback, set_advertisedValue, set_logicalName, set_userData, setLogicalName, setUserData, toString, unmuteValueCallbacks, userData

Methods inherited from class java.lang.Object

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

Field Detail

COUNTERCLOCKWISE_FALSE

public static final int COUNTERCLOCKWISE_FALSE

invalid counterClockwise value

See Also:

Constant Field Values

COUNTERCLOCKWISE_TRUE

public static final int COUNTERCLOCKWISE_TRUE

See Also:

Constant Field Values

COUNTERCLOCKWISE_INVALID

public static final int COUNTERCLOCKWISE_INVALID

See Also:

Constant Field Values

COMMAND_INVALID

public static final String COMMAND_INVALID

invalid command value

See Also:

Constant Field Values

ZEROOFFSET_INVALID

public static final double ZEROOFFSET_INVALID

invalid zeroOffset value

See Also:

Constant Field Values

_counterClockwise

protected int _counterClockwise

_command

protected String _command

_zeroOffset

protected double _zeroOffset

_valueCallbackOrientation

protected YOrientation.UpdateCallback _valueCallbackOrientation

_timedReportCallbackOrientation

protected YOrientation.TimedReportCallback _timedReportCallbackOrientation

Constructor Detail

YOrientation

protected YOrientation(YAPIContext ctx,
                       String func)

Parameters:

func - : functionid

YOrientation

protected YOrientation(String func)

Parameters:

func - : functionid

Method Detail

_parseAttr

protected void _parseAttr(com.yoctopuce.YoctoAPI.YJSONObject json_val)
                   throws Exception

Overrides:

_parseAttr in class YSensor

Throws:

Exception

get_counterClockwise

public int get_counterClockwise()
                         throws YAPI_Exception

Returns a value indicating whether the sensor is operating in a counterclockwise direction.

Returns:

either YOrientation.COUNTERCLOCKWISE_FALSE or YOrientation.COUNTERCLOCKWISE_TRUE, according to a value indicating whether the sensor is operating in a counterclockwise direction

Throws:

YAPI_Exception - on error

getCounterClockwise

public int getCounterClockwise()
                        throws YAPI_Exception

Returns a value indicating whether the sensor is operating in a counterclockwise direction.

Returns:

either YOrientation.COUNTERCLOCKWISE_FALSE or YOrientation.COUNTERCLOCKWISE_TRUE, according to a value indicating whether the sensor is operating in a counterclockwise direction

Throws:

YAPI_Exception - on error

set_counterClockwise

public int set_counterClockwise(int newval)
                         throws YAPI_Exception

Defines the operating direction of the sensor. Remember to call the saveToFlash() method of the module if the modification must be kept.

Parameters:

newval - : either YOrientation.COUNTERCLOCKWISE_FALSE or YOrientation.COUNTERCLOCKWISE_TRUE

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

setCounterClockwise

public int setCounterClockwise(int newval)
                        throws YAPI_Exception

Defines the operating direction of the sensor. Remember to call the saveToFlash() method of the module if the modification must be kept.

Parameters:

newval - : either YOrientation.COUNTERCLOCKWISE_FALSE or YOrientation.COUNTERCLOCKWISE_TRUE

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

get_command

public String get_command()
                   throws YAPI_Exception

Throws:

YAPI_Exception

set_command

public int set_command(String newval)
                throws YAPI_Exception

Throws:

YAPI_Exception

set_zeroOffset

public int set_zeroOffset(double newval)
                   throws YAPI_Exception

Sets an offset between the orientation reported by the sensor and the actual orientation. This can typically be used to compensate for mechanical offset. This offset can also be set automatically using the zero() method. Remember to call the saveToFlash() method of the module if the modification must be kept.

Parameters:

newval - : a floating point number

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

setZeroOffset

public int setZeroOffset(double newval)
                  throws YAPI_Exception

Sets an offset between the orientation reported by the sensor and the actual orientation. This can typically be used to compensate for mechanical offset. This offset can also be set automatically using the zero() method. Remember to call the saveToFlash() method of the module if the modification must be kept.

Parameters:

newval - : a floating point number

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

get_zeroOffset

public double get_zeroOffset()
                      throws YAPI_Exception

Returns the Offset between the orientation reported by the sensor and the actual orientation.

Returns:

a floating point number corresponding to the Offset between the orientation reported by the sensor and the actual orientation

Throws:

YAPI_Exception - on error

getZeroOffset

public double getZeroOffset()
                     throws YAPI_Exception

Returns the Offset between the orientation reported by the sensor and the actual orientation.

Returns:

a floating point number corresponding to the Offset between the orientation reported by the sensor and the actual orientation

Throws:

YAPI_Exception - on error

FindOrientation

public static YOrientation FindOrientation(String func)

Retrieves an orientation sensor for a given identifier. The identifier can be specified using several formats:

• FunctionLogicalName
• ModuleSerialNumber.FunctionIdentifier
• ModuleSerialNumber.FunctionLogicalName
• ModuleLogicalName.FunctionIdentifier
• ModuleLogicalName.FunctionLogicalName

This function does not require that the orientation sensor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YOrientation.isOnline() to test if the orientation sensor is indeed online at a given time. In case of ambiguity when looking for an orientation sensor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name. If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters:

func - : a string that uniquely characterizes the orientation sensor, for instance MyDevice.orientation.

Returns:

a YOrientation object allowing you to drive the orientation sensor.

FindOrientationInContext

public static YOrientation FindOrientationInContext(YAPIContext yctx,
                                                    String func)

Retrieves an orientation sensor for a given identifier in a YAPI context. The identifier can be specified using several formats:

• FunctionLogicalName
• ModuleSerialNumber.FunctionIdentifier
• ModuleSerialNumber.FunctionLogicalName
• ModuleLogicalName.FunctionIdentifier
• ModuleLogicalName.FunctionLogicalName

This function does not require that the orientation sensor is online at the time it is invoked. The returned object is nevertheless valid. Use the method YOrientation.isOnline() to test if the orientation sensor is indeed online at a given time. In case of ambiguity when looking for an orientation sensor by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

Parameters:

yctx - : a YAPI context

func - : a string that uniquely characterizes the orientation sensor, for instance MyDevice.orientation.

Returns:

a YOrientation object allowing you to drive the orientation sensor.

registerValueCallback

public int registerValueCallback(YOrientation.UpdateCallback callback)

Registers the callback function that is invoked on every change of advertised value. The callback is then invoked only during the execution of ySleep or yHandleEvents. This provides control over the time when the callback is triggered. For good responsiveness, remember to call one of these two functions periodically. The callback is called once juste after beeing registered, passing the current advertised value of the function, provided that it is not an empty string. To unregister a callback, pass a null pointer as argument.

Parameters:

callback - : the callback function to call, or a null pointer. The callback function should take two arguments: the function object of which the value has changed, and the character string describing the new advertised value.

_invokeValueCallback

public int _invokeValueCallback(String value)

Overrides:

_invokeValueCallback in class YSensor

registerTimedReportCallback

public int registerTimedReportCallback(YOrientation.TimedReportCallback callback)

Registers the callback function that is invoked on every periodic timed notification. The callback is invoked only during the execution of ySleep or yHandleEvents. This provides control over the time when the callback is triggered. For good responsiveness, remember to call one of these two functions periodically. To unregister a callback, pass a null pointer as argument.

Parameters:

callback - : the callback function to call, or a null pointer. The callback function should take two arguments: the function object of which the value has changed, and an YMeasure object describing the new advertised value.

_invokeTimedReportCallback

public int _invokeTimedReportCallback(YMeasure value)

Overrides:

_invokeTimedReportCallback in class YSensor

sendCommand

public int sendCommand(String command)
                throws YAPI_Exception

Throws:

YAPI_Exception

zero

public int zero()
         throws YAPI_Exception

Reset the sensor's zero to current position by automatically setting a new offset. Remember to call the saveToFlash() method of the module if the modification must be kept.

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

set_calibration

public int set_calibration(ArrayList<Double> offsetValues)
                    throws YAPI_Exception

Modifies the calibration of the MA600A sensor using an array of 32 values representing the offset in degrees between the true values and those measured regularly every 11.25 degrees starting from zero. The calibration is applied immediately and is stored permanently in the MA600A sensor. Before calculating the offset values, remember to clear any previous calibration using the clearCalibration function and set the zero offset to 0. After a calibration change, the sensor will stop measurements for about one second. Do not confuse this function with the generic calibrateFromPoints function, which works at the YSensor level and is not necessarily well suited to a sensor returning circular values.

Parameters:

offsetValues - : array of 32 floating point values in the [-11.25..+11.25] range

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

get_Calibration

public int get_Calibration(ArrayList<Double> offsetValues)
                    throws YAPI_Exception

Retrieves offset correction data points previously entered using the method set_calibration.

Parameters:

offsetValues - : array of 32 floating point numbers, that will be filled by the function with the offset values for the correction points.

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

clearCalibration

public int clearCalibration()
                     throws YAPI_Exception

Cancels any calibration set with set_calibration. This function is equivalent to calling set_calibration with only zeros.

Returns:

YAPI.SUCCESS if the call succeeds.

Throws:

YAPI_Exception - on error

nextOrientation

public YOrientation nextOrientation()

Continues the enumeration of orientation sensors started using yFirstOrientation(). Caution: You can't make any assumption about the returned orientation sensors order. If you want to find a specific an orientation sensor, use Orientation.findOrientation() and a hardwareID or a logical name.

Returns:

a pointer to a YOrientation object, corresponding to an orientation sensor currently online, or a null pointer if there are no more orientation sensors to enumerate.

FirstOrientation

public static YOrientation FirstOrientation()

Starts the enumeration of orientation sensors currently accessible. Use the method YOrientation.nextOrientation() to iterate on next orientation sensors.

Returns:

a pointer to a YOrientation object, corresponding to the first orientation sensor currently online, or a null pointer if there are none.

FirstOrientationInContext

public static YOrientation FirstOrientationInContext(YAPIContext yctx)

Starts the enumeration of orientation sensors currently accessible. Use the method YOrientation.nextOrientation() to iterate on next orientation sensors.

Parameters:

yctx - : a YAPI context.

Returns:

a pointer to a YOrientation object, corresponding to the first orientation sensor currently online, or a null pointer if there are none.