PER.rover
Class TurnHeadAction

java.lang.Object
  extended byPER.rover.TurnHeadAction
All Implemented Interfaces:
Action, java.io.Serializable

public class TurnHeadAction
extends java.lang.Object
implements Action

Turns the rover's head to an assigned pan and tilt. This action calls Rover.look but if errors occur, it will try up to five times before giving up.

See Also:
Serialized Form

Constructor Summary
TurnHeadAction()
          Creates a new instance of TurnHeadAction with pan and tilt set to zero.
TurnHeadAction(int p, int t)
          Creates a new instance of TurnHeadAction that sets the pan and tilt to the given angles.
 
Method Summary
 boolean doAction(Rover trike)
          Tries to start the action.
 long getImageUpdateTime()
          Lets you know when the last image was taken by this action.
 java.awt.image.BufferedImage getRecentImage()
          Returns the most recent image taken by this Action.
 int getReturnValue()
          The return value of the Action.
 java.lang.String getShortSummary()
          Provides a shortened version of the summary returned by getSummary.
 java.lang.String getSummary()
          Provides a textual explanation of the Action, such as "turn 90 degrees"
 int getTime()
          How long the action will take, in milliseconds.
 int getTimeRemaining()
          How much time until the action finishes (in milliseconds), if it has already started.
 boolean isCompleted()
          Whether the action has completed.
 boolean isSuccess()
          Whether the action completed successfully.
 void kill()
          Emergency stop - end the action immediately, if it's running.
 void setPan(int p)
          Sets the pan angle.
 void setTilt(int t)
          Sets the tilt angle.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

TurnHeadAction

public TurnHeadAction()
Creates a new instance of TurnHeadAction with pan and tilt set to zero.


TurnHeadAction

public TurnHeadAction(int p,
                      int t)
Creates a new instance of TurnHeadAction that sets the pan and tilt to the given angles.

Method Detail

doAction

public boolean doAction(Rover trike)
Description copied from interface: Action
Tries to start the action. Returns whether the action started.

Specified by:
doAction in interface Action

getReturnValue

public int getReturnValue()
Description copied from interface: Action
The return value of the Action. Zero is a success. Negative implies one of this class's constants. Other values should be interpreted as appropriate.

Specified by:
getReturnValue in interface Action
See Also:
RoverState, ActionConstants

getShortSummary

public java.lang.String getShortSummary()
Description copied from interface: Action
Provides a shortened version of the summary returned by getSummary. For example, getSummary may return something like "Turn left and drive about 39 inches toward the red landmark," whereas getShortSummary might just return "Drive toward a landmark."

Specified by:
getShortSummary in interface Action

getSummary

public java.lang.String getSummary()
Description copied from interface: Action
Provides a textual explanation of the Action, such as "turn 90 degrees"

Specified by:
getSummary in interface Action

getTime

public int getTime()
How long the action will take, in milliseconds. This action always returns 1.

Specified by:
getTime in interface Action

isCompleted

public boolean isCompleted()
Description copied from interface: Action
Whether the action has completed. Undefined until doAction has been called.

Specified by:
isCompleted in interface Action

isSuccess

public boolean isSuccess()
Description copied from interface: Action
Whether the action completed successfully. Undefined until isCompleted() returns true.

Specified by:
isSuccess in interface Action

kill

public void kill()
Emergency stop - end the action immediately, if it's running. Not currently implemented for this action.

Specified by:
kill in interface Action

setPan

public void setPan(int p)
Sets the pan angle.


setTilt

public void setTilt(int t)
Sets the tilt angle.


getTimeRemaining

public int getTimeRemaining()
How much time until the action finishes (in milliseconds), if it has already started. Undefined behavior if the action has not yet begun, or has finished. This action always returns a time remaining of 0.

Specified by:
getTimeRemaining in interface Action

getImageUpdateTime

public long getImageUpdateTime()
Description copied from interface: Action
Lets you know when the last image was taken by this action. If the Action does not take pictures or the first picture has not yet been taken, will return 0.

Specified by:
getImageUpdateTime in interface Action
Returns:
the system time in milliseconds when the last image was taken or 0 if no images have been taken

getRecentImage

public java.awt.image.BufferedImage getRecentImage()
Description copied from interface: Action
Returns the most recent image taken by this Action. The image will be null if the Action does not take pictures or the first picture has not yet been taken.

Specified by:
getRecentImage in interface Action
Returns:
the most recent picture taken by the Action.