Turntable (OpenIMAJ master project 1.3.10 API)

java.lang.Object
- org.openimaj.hardware.turntable.Turntable

```
public class Turntable
extends Object
```
A simple controller for our serially connected electronic turntable. Send NNNNNA0 to rotate anticlockwise by NNNNN increments (360/24000th of a degree) Send NNNNNC0 to rotate clockwise by NNNNN increments (360/24000th of a degree)

Author:

Jonathon Hare (jsh2@ecs.soton.ac.uk)

Field Summary

Fields
Modifier and Type	Field and Description
`protected int`	`currentAngleTicks`
`protected static double`	`TICKS_PER_DEGREE`
`protected static double`	`TICKS_PER_RADIAN`
`protected static int`	`TICKS_PER_REVOLUTION`
`protected SerialDevice`	`turntableDevice`

Constructor Summary

Constructors
Constructor and Description

Turntable(String port)
Default constructor.

Constructors
Constructor and Description
`Turntable(String port)` Default constructor.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`close()` Close the connection to the turntable.
`double`	`getCurrentAngleDegrees()` Get the current absolute angle in degrees (relative to the position at initialisation)
`double`	`getCurrentAngleRadians()` Get the current absolute angle in radians (relative to the position at initialisation)
`static void`	`main(String[] args)` Test the turntable
`void`	`rotateByDegrees(double degrees)` Rotate the turntable by the given angle in degrees.
`void`	`rotateByRadians(double rads)` Rotate the turntable by the given angle in radians.
`void`	`rotateToDegrees(double degrees)` Rotate the turntable to the given absolute angle in degrees (relative to the position at initialisation).
`void`	`rotateToRadians(double rads)` Rotate the turntable to the given absolute angle in radians (relative to the position at initialisation).
`protected void`	`sendCommand(int ticks)`
`protected void`	`sendCommand(int ticks, boolean cw)`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - TICKS_PER_REVOLUTION
```
protected static final int TICKS_PER_REVOLUTION
```
    See Also:
    
    Constant Field Values
  - TICKS_PER_DEGREE
```
protected static final double TICKS_PER_DEGREE
```
    See Also:
    
    Constant Field Values
  - TICKS_PER_RADIAN
```
protected static final double TICKS_PER_RADIAN
```
    See Also:
    
    Constant Field Values
  - currentAngleTicks
```
protected int currentAngleTicks
```
  - turntableDevice
```
protected SerialDevice turntableDevice
```
- Constructor Detail
  - Turntable
```
public Turntable(String port)
          throws Exception
```
    Default constructor. Opens a connection to the turntable on the given port.
    
    Parameters:
    
    port - The port
    
    Throws:
    
    Exception
- Method Detail
  - getCurrentAngleDegrees
```
public double getCurrentAngleDegrees()
```
    Get the current absolute angle in degrees (relative to the position at initialisation)
    
    Returns:
    
    the absolute angle in degrees
  - getCurrentAngleRadians
```
public double getCurrentAngleRadians()
```
    Get the current absolute angle in radians (relative to the position at initialisation)
    
    Returns:
    
    the absolute angle in radians
  - rotateToRadians
```
public void rotateToRadians(double rads)
                     throws IOException
```
    Rotate the turntable to the given absolute angle in radians (relative to the position at initialisation). The turntable will take the shortest path to the requested position.
    
    Parameters:
    
    rads - the angle in radians
    
    Throws:
    
    IOException
  - rotateToDegrees
```
public void rotateToDegrees(double degrees)
                     throws IOException
```
    Rotate the turntable to the given absolute angle in degrees (relative to the position at initialisation). The turntable will take the shortest path to the requested position.
    
    Parameters:
    
    degrees - the angle in degrees
    
    Throws:
    
    IOException
  - rotateByRadians
```
public void rotateByRadians(double rads)
                     throws IOException
```
    Rotate the turntable by the given angle in radians. Positive angles are clockwise, negative anticlockwise.
    
    Parameters:
    
    rads - the angle in radians
    
    Throws:
    
    IOException
  - rotateByDegrees
```
public void rotateByDegrees(double degrees)
                     throws IOException
```
    Rotate the turntable by the given angle in degrees. Positive angles are clockwise, negative anticlockwise.
    
    Parameters:
    
    degrees - the angle in degrees
    
    Throws:
    
    IOException
  - sendCommand
```
protected void sendCommand(int ticks)
                    throws IOException
```
    Throws:
    
    IOException
  - sendCommand
```
protected void sendCommand(int ticks,
                           boolean cw)
                    throws IOException
```
    Throws:
    
    IOException
  - close
```
public void close()
           throws IOException
```
    Close the connection to the turntable.
    
    Throws:
    
    IOException
  - main
```
public static void main(String[] args)
                 throws Exception
```
    Test the turntable
    
    Parameters:
    
    args -
    
    Throws:
    
    Exception

Class Turntable

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

TICKS_PER_REVOLUTION

TICKS_PER_DEGREE

TICKS_PER_RADIAN

currentAngleTicks

turntableDevice

Constructor Detail

Turntable

Method Detail

getCurrentAngleDegrees

getCurrentAngleRadians

rotateToRadians

rotateToDegrees

rotateByRadians

rotateByDegrees

sendCommand

sendCommand

close

main