// phidgetIK -phidget interface kit object


// phidgetEncoder
//
// Constructors
//
//  phidgetEncoder() - open with first available phidget Encoder
//
//  phidgetEncoder( int serial ) - open phidget with given serial number
//
//
// Methods
//
//  void close() - close the phidget Encoder
//
//  boolean isAttached() - returns true if Encoder is attached
//
//  void waitForAttachment( int timeout ) - wait for Encoder to attach with timeout in miliseconds
//
//  void waitForAttachment( ) - wait indefinitely for Encoder to attach
//
//  int serial() - return serial number of Encoder if attached, 0 otherwise
//
//  int version() - return Encoder revision no if attached, 0 otherwise
//
//  int getEncoderCount() - returns encoder count
//  
//  int getInputCount() - returns number of digital inputs
//  
//  int getPosition( int index ) - returns position of indexed encoder
//  
//  void setPosition( int index, int position ) - set position of indexed encoder
//  
//  boolean getInputState( int index ) - returns number of digital inputs
//


import com.phidgets.*;
import com.phidgets.event.*;


class phidgetEncoder {
  EncoderPhidget encoder;
  
  
  // constructors
  // open first available interface kit
  phidgetEncoder() {
    try {
      encoder = new EncoderPhidget();
      encoder.openAny();
    }
    catch(Exception e) {}
  }
  
  // open interface kit for given serial number
  phidgetEncoder( int serial ) {
    try {
      encoder = new EncoderPhidget();
      encoder.open( serial );
    }
    catch(Exception e) {}
  }
  
  // close the ik
  void close() {
    try {
      encoder.close();
    }
    catch(Exception e) {}
  }
  
  // check if interface kit is attached
  boolean isAttached() {
    boolean result;
    
    try {
      result = encoder.isAttached();
    }
    catch(Exception e) {
      result = false;
    }
    return result;
  }
  
  // wait for phidget to attach - with time out
  void waitForAttachment( int timeout ) {
    try {
      encoder.waitForAttachment(timeout);
    }
    catch( Exception e) {
    }
  }
  
  
  // sait for phidget to attach - indefinitely
  void waitForAttachment( ) {
    try {
      encoder.waitForAttachment();
    }
    catch( Exception e) {
    }
  }
  

  // get serial number of attached phidget, return -1 if not attached
  int serial() {
    int s;
    
    try {
      s = encoder.getSerialNumber();
    }
    catch( Exception e ) {
      s = -1;
    }
    return s;
  }
  
  // get device version
  int version() {
    int v;
    
    try {
      v = encoder.getDeviceVersion();
    }
    catch( Exception e ) {
      v = -1;
    }
    return v;
  }
  
  // returns encoder count
  int getEncoderCount() {
    int n;
    
    try {
      n = encoder.getEncoderCount();
    }
    catch( Exception e ) {
      n = 0;
    }
    return n;
  }
  
  // returns number of digital inputs
  int getInputCount() {
    int n;
    
    try {
      n = encoder.getInputCount();
    }
    catch( Exception e ) {
      n = 0;
    }
    return n;
  }
  
  // returns position of indexed encoder
  int getPosition( int index ) {
    int pos;
    
    try {
      pos = encoder.getPosition( index );
    }
    catch( Exception e ) {
      pos = 0;
    }
    return pos;
  }
  
  // set position of indexed encoder
  void setPosition( int index, int position ) {
    
    try {
      encoder.setPosition( index, position );
    }
    catch( Exception e ) {
    }
  }
  
  // returns number of digital inputs
  boolean getInputState( int index ) {
    boolean state;
    
    try {
      state = encoder.getInputState( index );
    }
    catch( Exception e ) {
      state = false;
    }
    return state;
  }
}