PER.rover.control
Class RoverCommand

java.lang.Object
  extended byPER.rover.control.RoverCommand

public class RoverCommand
extends java.lang.Object

Low level rover commands - they mainly interface from RoverController methods to the stayton.


Constructor Summary
RoverCommand()
           
 
Method Summary
 RoverCommand crab(int speed, int angle)
           
 RoverCommand getCalibration()
           
 byte[] getData()
           
 int getLength()
           
 RoverCommand getMean(boolean stream)
           
 RoverCommand getProperties()
           
 RoverCommand getScanList()
           
 RoverCommand getUpdate()
           
 RoverCommand getVersion()
           
 RoverCommand goTo(int dist, int angle, byte safetyLevel, boolean takePics)
           
 RoverCommand headMove(boolean movePan, int panAngle, boolean moveTilt, int tiltAngle)
           
 RoverCommand initRover()
           
 RoverCommand killHL()
           
 RoverCommand quadTurn(int speed, int radius)
           
 RoverCommand scan(int tilt, int minPan, int maxPan, int step)
           
 RoverCommand setAll(int mask, int motor0, int motor1, int servo0, int servo1, int servo2, int servo3, int pan, int tilt)
           
 RoverCommand setCalibration(java.lang.String cal)
           
 RoverCommand setLight(boolean on)
           
 RoverCommand setScanList(java.lang.String cal)
           
 RoverCommand spin(int speed)
           
 RoverCommand startMotion()
           
 RoverCommand startTrack(int minY, int maxY, int minU, int maxU, int minV, int maxV, int trackMethod, boolean movePan, boolean moveTilt, int driveMethod)
           
 RoverCommand stopStreaming()
           
 RoverCommand takePicture(int pan, int tilt, int width, int height, boolean lightUV)
           
 RoverCommand takeRawPicture(int pan, int tilt, int width, int height, boolean lightUV)
           
 RoverCommand takeRecentPicture()
           
 RoverCommand turnTo(int degrees, boolean takePics)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

RoverCommand

public RoverCommand()
Method Detail

getData

public byte[] getData()

getLength

public int getLength()

initRover

public RoverCommand initRover()

takePicture

public RoverCommand takePicture(int pan,
                                int tilt,
                                int width,
                                int height,
                                boolean lightUV)

takeRecentPicture

public RoverCommand takeRecentPicture()

takeRawPicture

public RoverCommand takeRawPicture(int pan,
                                   int tilt,
                                   int width,
                                   int height,
                                   boolean lightUV)

scan

public RoverCommand scan(int tilt,
                         int minPan,
                         int maxPan,
                         int step)

spin

public RoverCommand spin(int speed)

crab

public RoverCommand crab(int speed,
                         int angle)

quadTurn

public RoverCommand quadTurn(int speed,
                             int radius)

headMove

public RoverCommand headMove(boolean movePan,
                             int panAngle,
                             boolean moveTilt,
                             int tiltAngle)

setAll

public RoverCommand setAll(int mask,
                           int motor0,
                           int motor1,
                           int servo0,
                           int servo1,
                           int servo2,
                           int servo3,
                           int pan,
                           int tilt)

goTo

public RoverCommand goTo(int dist,
                         int angle,
                         byte safetyLevel,
                         boolean takePics)

turnTo

public RoverCommand turnTo(int degrees,
                           boolean takePics)

killHL

public RoverCommand killHL()

getUpdate

public RoverCommand getUpdate()

getCalibration

public RoverCommand getCalibration()

setCalibration

public RoverCommand setCalibration(java.lang.String cal)

getScanList

public RoverCommand getScanList()

setScanList

public RoverCommand setScanList(java.lang.String cal)

setLight

public RoverCommand setLight(boolean on)

getVersion

public RoverCommand getVersion()

startTrack

public RoverCommand startTrack(int minY,
                               int maxY,
                               int minU,
                               int maxU,
                               int minV,
                               int maxV,
                               int trackMethod,
                               boolean movePan,
                               boolean moveTilt,
                               int driveMethod)

stopStreaming

public RoverCommand stopStreaming()

getMean

public RoverCommand getMean(boolean stream)

startMotion

public RoverCommand startMotion()

getProperties

public RoverCommand getProperties()