|
|||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | ||||||||
SUMMARY: INNER | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Object | +--EDU.gatech.cc.is.abstractrobot.Simple | +--EDU.gatech.cc.is.abstractrobot.SimpleN150Hard | +--EDU.gatech.cc.is.abstractrobot.MultiForageN150Hard | +--EDU.gatech.cc.is.abstractrobot.MultiForageN150HardPassiveGrip
MultiForageN150HardPassiveGrip implements MultiForageN150 for Nomad 150 hardware using the Ndirect class. Assumes a passive gripper. You should see the specifications in MultiForageN150 and Ndirect class documentation for details.
To reduce I/O between the controller and the robot, a thread is set up to perform periodic I/O. The sensor data and motor commands are exchanged through MultiForageN150HardPassiveGrip class variables (globals).
Copyright (c)1997, 1998 Tucker Balch
MultiForageN150
,
Ndirect
,
EDU.gatech.cc.is.Newton
Fields inherited from class EDU.gatech.cc.is.abstractrobot.MultiForageN150Hard |
gripper_finger,
gripper_height,
hard_command,
newt,
nt,
old_gripper_finger,
old_gripper_height,
old_hard_command,
trigger_mode |
Fields inherited from class EDU.gatech.cc.is.abstractrobot.SimpleN150Hard |
base_speed,
cycles,
DEBUG,
desired_heading,
desired_speed,
hard_command,
in_reverse,
keep_running,
last_Obstacles,
last_Position,
last_SteerHeading,
last_TurretHeading,
nomad150_hardware,
num_Obstacles,
obstacle_rangeInch,
old_desired_heading,
old_desired_turret_heading,
old_hard_command,
run_time_sum,
sonar_raw_data,
time_sum |
Fields inherited from class EDU.gatech.cc.is.abstractrobot.Simple |
dictionary,
displayVectors,
unique_id |
Fields inherited from interface EDU.gatech.cc.is.abstractrobot.MultiForageN150 |
GRIPPER_CAPTURE_RADIUS,
GRIPPER_POSITION,
VISION_FOV_DEG,
VISION_FOV_RAD,
VISION_RANGE |
Fields inherited from interface EDU.gatech.cc.is.abstractrobot.SimpleN150 |
MAX_STEER,
MAX_TRANSLATION,
MAX_TURRET,
RADIUS,
SONAR_RADIUS |
Constructor Summary | |
MultiForageN150HardPassiveGrip(int serial_port,
int baud)
Instantiate a MultiForageN150HardPasiveGrip object. |
Method Summary | |
void |
takeStep()
Conducts periodic I/O with the robot. |
Methods inherited from class EDU.gatech.cc.is.abstractrobot.MultiForageN150Hard |
broadcast,
connected,
getObjectInGripper,
getOpponents,
getPlayerNumber,
getReceiveChannel,
getTeammates,
getVisualObjects,
multicast,
run,
setCommunicationMaxRange,
setGripperFingers,
setGripperHeight,
setKinMaxRange,
setVisionNoise,
unicast |
Methods inherited from class EDU.gatech.cc.is.abstractrobot.SimpleN150Hard |
getBackgroundColor,
getForegroundColor,
getObstacles,
getPosition,
getSteerHeading,
getTime,
getTurretHeading,
quit,
resetPosition,
resetSteerHeading,
resetTurretHeading,
setBaseSpeed,
setDisplayString,
setObstacleMaxRange,
setSpeed,
setSteerHeading,
setTurretHeading |
Methods inherited from class EDU.gatech.cc.is.abstractrobot.Simple |
getDictionary,
getID,
getID,
setDictionary,
setID |
Methods inherited from class java.lang.Object |
clone,
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
Constructor Detail |
public MultiForageN150HardPassiveGrip(int serial_port, int baud) throws java.lang.Exception
serial_port
- 1 = ttys0 (COM1), 2 = ttys1 (COM2) ...baud
- baud rate for communication.Method Detail |
public void takeStep()
|
|||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | ||||||||
SUMMARY: INNER | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |