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package org.reprap;
import java.io.IOException;
import org.reprap.ReprapException;
import org.reprap.comms.IncomingMessage.InvalidPayloadException;
public interface AxisMotor {
/**
* Dispose of this object
*/
public void dispose();
/**
*
*
*/
public void waitTillNotBusy() throws IOException;
/**
* Reload the preferences
*
*/
public void refreshPreferences();
/**
* Add an XY point to the firmware buffer for plotting
* Only works for recent firmware.
*
* @param endX
* @param endY
* @param movementSpeed
* @return
*/
public boolean queuePoint(int endX, int endY, int movementSpeed, int control) throws IOException;
/**
* Set the motor speed (or turn it off)
* @param speed A value between -255 and 255.
* @throws ReprapException
* @throws IOException
*/
public void setSpeed(int speed) throws IOException;
/**
* @throws IOException
*/
public void setIdle() throws IOException;
/**
* @throws IOException
*/
public void stepForward() throws IOException;
/**
* @throws IOException
*/
public void stepBackward() throws IOException;
/**
* @throws IOException
*/
public void resetPosition() throws IOException;
/**
* @param position
* @throws IOException
*/
public void setPosition(int position) throws IOException;
/**
* Is the comms working?
* @return
*/
public boolean isAvailable();
public boolean wasAvailable();
/**
* @return current position of the motor
* @throws IOException
*/
public int getPosition() throws IOException;
/**
* @param speed
* @param position
* @throws IOException
*/
public void seek(int speed, int position) throws IOException;
/**
* @param speed
* @param position
* @throws IOException
*/
public void seekBlocking(int speed, int position) throws IOException;
/**
* @param speed
* @return range of the motor
* @throws IOException
* @throws InvalidPayloadException
*/
public Range getRange(int speed) throws IOException, InvalidPayloadException;
/**
* @param speed
* @throws IOException
* @throws InvalidPayloadException
*/
public void homeReset(int speed) throws IOException, InvalidPayloadException;
/**
* @param syncType
* @throws IOException
*/
public void setSync(byte syncType) throws IOException;
/**
* @param speed
* @param x1
* @param deltaY
* @throws IOException
*/
public void dda(int speed, int x1, int deltaY) throws IOException;
/**
*
* @param maxTorque An integer value 0 to 100 representing the maximum torque percentage
* @throws IOException
*/
public void setMaxTorque(int maxTorque) throws IOException;
public class Range {
/**
*
*/
public int minimum;
/**
*
*/
public int maximum;
public Range()
{
minimum = 0;
maximum = 0;
}
}
}
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