com.ur.urcap.api.domain.program.nodes.builtin.configurations.untilnode

Interface UntilNodeConfigFactory

public interface UntilNodeConfigFactory

This interface can be used to create configurations that can be applied to an Until program node.

Since:

1.6.0

Method Summary

Modifier and Type	Method and Description
AnalogInputUntilNodeConfig	createAnalogInputConfig(AnalogIO input, CompareOperator compareOperator, Current currentThreshold, ErrorHandler<Current> errorHandler) Creates an I/O Input configuration for an Until node.
AnalogInputUntilNodeConfig	createAnalogInputConfig(AnalogIO input, CompareOperator compareOperator, Voltage voltageThreshold, ErrorHandler<Voltage> errorHandler) Creates an I/O Input configuration for an Until node.
BlendParameters	createBlendParameters(Blend suggestedBlend) Creates blend parameters for an Until node.
CustomDecelerationParameters	createDecelerationParameters(Acceleration deceleration, ErrorHandler<Acceleration> decelerationErrorHandler) Creates deceleration parameter for an Until node.
CustomDecelerationParameters	createDecelerationParameters(AngularAcceleration deceleration, ErrorHandler<AngularAcceleration> decelerationErrorHandler) Creates deceleration parameter for an Until node.
CustomDecelerationParameters	createDecelerationParameters(AngularAcceleration angularDeceleration, ErrorHandler<AngularAcceleration> angularDecelerationErrorHandler, Acceleration cartesianDeceleration, ErrorHandler<Acceleration> cartesianDecelerationErrorHandler) Creates deceleration parameter for an Until node.
DigitalInputUntilNodeConfig	createDigitalInputConfig(BooleanRegister input, boolean valueToProceedUntil) Creates an I/O Input configuration for an Until node.
DigitalInputUntilNodeConfig	createDigitalInputConfig(DigitalIO input, boolean valueToProceedUntil) Creates an I/O Input configuration for an Until node.
DigitalInputUntilNodeConfig	createDigitalInputConfig(ModbusIO input, boolean valueToProceedUntil) Creates an I/O Input configuration for an Until node.
DistanceUntilNodeConfig	createDistanceConfig() Creates a Distance configuration for an Until node with PolyScope default values.
DistanceUntilNodeConfig	createDistanceConfig(Length distance, ErrorHandler<Length> distanceErrorHandler, BlendParameters blendParameters) Creates a Distance configuration for an Until node.
ExpressionUntilNodeConfig	createExpressionConfig() Creates an Expression configuration for an Until node with PolyScope default values.
ExpressionUntilNodeConfig	createExpressionConfig(Expression expression) Creates an Expression configuration for an Until node with an expression and default value for the deceleration parameter.
ExpressionUntilNodeConfig	createExpressionConfig(Expression expression, DecelerationParameters deceleration) Creates an Expression configuration for an Until node.
FloatRegisterInputUntilNodeConfig	createFloatRegisterInputConfig(FloatRegister input, CompareOperator compareOperator, float threshold) Creates an I/O Input configuration for an Until node.
IOInputUntilNodeConfig	createIOInputConfig() Creates an I/O Input configuration for an Until node with PolyScope default values, i.e.
BlendParameters	createNoBlendParameters() Creates no blend parameters for an Until node.
ReachedWaypointUntilNodeConfig	createReachedWaypointConfig() Creates a Reached Waypoint configuration for an Until node.
DecelerationParameters	createSharedDecelerationParameters() Creates shared deceleration parameter for an Until node.

Method Detail

createNoBlendParameters

BlendParameters createNoBlendParameters()

Creates no blend parameters for an Until node. The robot arm will stop without performing a blend.

Can be used in a Distance configuration type.

Returns:

the blend parameters for the Until node.

createBlendParameters

BlendParameters createBlendParameters(Blend suggestedBlend)

Creates blend parameters for an Until node. Can be used in a Distance configuration type.

Parameters:

suggestedBlend - This blend value may be (automatically) corrected depending on the value of the distance parameter the Distance configuration.

Returns:

the blend parameters for the Until node.

createSharedDecelerationParameters

DecelerationParameters createSharedDecelerationParameters()

Creates shared deceleration parameter for an Until node. The acceleration values from the parent Move node will be used as deceleration (absolute value).

Can be used in an Expression configuration type.

Returns:

the deceleration parameter for the Until node.

createDecelerationParameters

CustomDecelerationParameters createDecelerationParameters(AngularAcceleration deceleration,
                                                          ErrorHandler<AngularAcceleration> decelerationErrorHandler)

Creates deceleration parameter for an Until node. Can be used in an Expression configuration type.

An angular deceleration is used when the type of the parent Move node is a MoveJ, whereas a Cartesian deceleration is used when the move type is a MoveL or MoveP.

Parameters:

deceleration - the angular deceleration (the value for the Cartesian deceleration will be the default value that PolyScope uses), not null.

decelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid angular deceleration value.

Returns:

the deceleration parameter for the Until node.

createDecelerationParameters

CustomDecelerationParameters createDecelerationParameters(Acceleration deceleration,
                                                          ErrorHandler<Acceleration> decelerationErrorHandler)

Creates deceleration parameter for an Until node. Can be used in an Expression configuration type.

An angular deceleration is used when the type of the parent Move node is a MoveJ, whereas a Cartesian deceleration is used when the move type is a MoveL or MoveP.

Parameters:

deceleration - the Cartesian deceleration (the value for the angular deceleration will be the default value that PolyScope uses), not null.

decelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid cartesian deceleration value.

Returns:

the deceleration parameter for the Until node.

createDecelerationParameters

CustomDecelerationParameters createDecelerationParameters(AngularAcceleration angularDeceleration,
                                                          ErrorHandler<AngularAcceleration> angularDecelerationErrorHandler,
                                                          Acceleration cartesianDeceleration,
                                                          ErrorHandler<Acceleration> cartesianDecelerationErrorHandler)

Creates deceleration parameter for an Until node. Can be used in an Expression configuration type.

An angular deceleration is used when the type of the parent Move node is a MoveJ, whereas a Cartesian deceleration is used when the move type is a MoveL or MoveP.

Parameters:

angularDeceleration - the angular deceleration, not null.

angularDecelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid angular deceleration value.

cartesianDeceleration - the Cartesian deceleration, not null.

cartesianDecelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid cartesian deceleration value.

Returns:

the deceleration parameter for the Until node.

createExpressionConfig

ExpressionUntilNodeConfig createExpressionConfig()

Creates an Expression configuration for an Until node with PolyScope default values. This default configuration corresponds to when the end user inserts a new Until Expression node in the program tree manually.

Note that these default values may change between PolyScope versions.

Returns:

the Until node configuration.

createExpressionConfig

ExpressionUntilNodeConfig createExpressionConfig(Expression expression)

Creates an Expression configuration for an Until node with an expression and default value for the deceleration parameter. The until condition for this configuration is true once the evaluation of the expression is true.

Note that this default value may change between PolyScope versions.

Parameters:

expression - the expression whose evaluation will determine whether the until condition is met.

Returns:

the Until node configuration.

createExpressionConfig

ExpressionUntilNodeConfig createExpressionConfig(Expression expression,
                                                 DecelerationParameters deceleration)

Creates an Expression configuration for an Until node. The until condition for this configuration is true once the evaluation of the expression is true.

Parameters:

expression - the expression whose evaluation will determine whether the until condition is met.

deceleration - the rate of deceleration to stop at once the expression until condition is met.

Returns:

the Until node configuration.

createDistanceConfig

DistanceUntilNodeConfig createDistanceConfig()

Creates a Distance configuration for an Until node with PolyScope default values. This default configuration corresponds to when the end user inserts a new Until Distance node in the program tree manually.

Note that these default values may change between PolyScope versions.

Returns:

the Until node configuration.

createDistanceConfig

DistanceUntilNodeConfig createDistanceConfig(Length distance,
                                             ErrorHandler<Length> distanceErrorHandler,
                                             BlendParameters blendParameters)

Creates a Distance configuration for an Until node. The until condition for this configuration is true once a given distance is reached.

Parameters:

distance - the distance for the robot arm to travel, not null.

distanceErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid distance value.

blendParameters - the blend to be applied when the distance is met.

Returns:

the Until node configuration.

createReachedWaypointConfig

ReachedWaypointUntilNodeConfig createReachedWaypointConfig()

Creates a Reached Waypoint configuration for an Until node. The until condition for this configuration is true once its parent Waypoint is reached.

Returns:

the Until node configuration.

createIOInputConfig

IOInputUntilNodeConfig createIOInputConfig()

Creates an I/O Input configuration for an Until node with PolyScope default values, i.e. no I/O input is selected for the until condition. This default configuration corresponds to when the end user inserts a new Until I/O Input node in the program tree manually.

Returns:

the Until node configuration.

Since:

1.7.0

createDigitalInputConfig

DigitalInputUntilNodeConfig createDigitalInputConfig(DigitalIO input,
                                                     boolean valueToProceedUntil)

Creates an I/O Input configuration for an Until node. The until condition for this configuration is true once the signal value of a given digital input goes HIGH or LOW.

Parameters:

input - the digital input whose signal value will determine whether the until condition is met, not null.

valueToProceedUntil - true, if the until condition is met when the input signal value goes HIGH, false otherwise (condition met when signal value is LOW).

Returns:

the Until node configuration.

Throws:

IllegalArgumentException - if input is an output (does not support reading of values). See IO.isInput().

Since:

1.7.0

createDigitalInputConfig

DigitalInputUntilNodeConfig createDigitalInputConfig(ModbusIO input,
                                                     boolean valueToProceedUntil)

Creates an I/O Input configuration for an Until node. The until condition for this configuration is true once the signal value of a given digital MODBUS input becomes HIGH/true or LOW/false.

Parameters:

input - the digital MODBUS input whose value will determine whether the until condition is met, not null.

valueToProceedUntil - true, if the until condition is met when the input signal value goes HIGH/true, true otherwise (condition met when signal value is LOW).

Returns:

the Until node configuration.

Throws:

IllegalArgumentException - if input is an output (does not support reading of values) or if output is not a digital output. See IO.isInput() and IO.getType().

Since:

1.7.0

createDigitalInputConfig

DigitalInputUntilNodeConfig createDigitalInputConfig(BooleanRegister input,
                                                     boolean valueToProceedUntil)

Creates an I/O Input configuration for an Until node. The until condition for this configuration is true once the value of a given boolean register becomes true or false.

Parameters:

input - the boolean input register whose value will determine whether the until condition is met, not null.

valueToProceedUntil - true, if the until condition is met when the register value becomes true, false otherwise (condition met when register value is false).

Returns:

the Until node configuration.

Throws:

IllegalArgumentException - if input is an output (does not support reading of values). See IO.isInput().

Since:

1.7.0

createAnalogInputConfig

AnalogInputUntilNodeConfig createAnalogInputConfig(AnalogIO input,
                                                   CompareOperator compareOperator,
                                                   Current currentThreshold,
                                                   ErrorHandler<Current> errorHandler)

Creates an I/O Input configuration for an Until node. The until condition for this configuration is true once the the signal value of a given analog input goes past a specified electric Current threshold.

Parameters:

input - the analog input whose signal value will determine whether the until condition is met, not null.

compareOperator - the operator to use when comparing the signal value of the selected analog input to the threshold value, not null. Available options are "less than" (<) or "greater than" (>).

currentThreshold - the electric Current threshold for the signal value of the analog input. Execution will proceed until the signal value of the selected analog input goes past this threshold.

errorHandler - the error handler for validation errors. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid current value.

Returns:

the Until node configuration.

Throws:

IllegalArgumentException - if input is an output (does not support reading of values). See IO.isInput().

Since:

1.7.0

createAnalogInputConfig

AnalogInputUntilNodeConfig createAnalogInputConfig(AnalogIO input,
                                                   CompareOperator compareOperator,
                                                   Voltage voltageThreshold,
                                                   ErrorHandler<Voltage> errorHandler)

Creates an I/O Input configuration for an Until node. The until condition for this configuration is true once the signal value of a given analog input goes past a specified electric Voltage threshold.

Parameters:

input - the analog input whose signal value will determine whether the until condition is met, not null.

compareOperator - the operator to use when comparing the signal value of the selected analog input to the threshold value, not null. Available options are "less than" (<) or "greater than" (>).

voltageThreshold - the electric Voltage threshold for the signal value of the analog input. Execution will proceed until the signal value of the selected analog input goes past this threshold.

errorHandler - the error handler for validation errors. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid voltage value.

Returns:

the Until node configuration.

Throws:

IllegalArgumentException - if input is an output (does not support reading of values). See IO.isInput().

Since:

1.7.0

createFloatRegisterInputConfig

FloatRegisterInputUntilNodeConfig createFloatRegisterInputConfig(FloatRegister input,
                                                                 CompareOperator compareOperator,
                                                                 float threshold)

Creates an I/O Input configuration for an Until node. The until condition for this configuration is true once the value of a float input register goes past a specified threshold.

Parameters:

input - the float input register whose value will determine whether the until condition is met, not null.

compareOperator - the operator to use when comparing the value of the selected input register to the threshold value, not null. Available options are "less than" (<) or "greater than" (>).

threshold - the threshold for the value of the float input register. Execution will proceed until the value of the selected float input register goes past this threshold.

Returns:

the Until node configuration.

Throws:

IllegalArgumentException - if input is an output (does not support reading of values). See IO.isInput().

Since:

1.7.0