: Interface SimpleN150

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EDU.gatech.cc.is.abstractrobot
Interface SimpleN150

All Known Subinterfaces:: Capture, CommN150, MultiForageN150

All Known Implementing Classes:: SimpleN150Hard, SimpleN150Sim, CaptureSim

public interface SimpleN150
extends SimpleInterface

Provides an abstract interface to the hardware of a basic Nomadic Technologies Nomad 150 robot (no vision, gripper or communication). In addition to the capabilities provided by a Simple robot, we also get a rotating turret.

Field Summary

static double MAX_STEER


static double MAX_TRANSLATION


static double MAX_TURRET
          Max rate of turn of the turret in radians/sec.

static double RADIUS


static double SONAR_RADIUS
          How far sonar ring is from center of robot.

Method Summary

double getTurretHeading(long timestamp)
          Get the current heading of the turret motor.

void resetTurretHeading(double heading)
          Reset the turret odometry of the robot in global coordinates.

void setTurretHeading(long timestamp, double heading)
          Set the desired heading for the turret motor.

Methods inherited from interface EDU.gatech.cc.is.abstractrobot.SimpleInterface

getBackgroundColor, getDictionary, getForegroundColor, getID, getID, getObstacles, getPosition, getSteerHeading, getTime, quit, resetPosition, resetSteerHeading, setBaseSpeed, setDictionary, setDisplayString, setID, setObstacleMaxRange, setSpeed, setSteerHeading

Field Detail

MAX_TRANSLATION

public static final double MAX_TRANSLATION

MAX_STEER

public static final double MAX_STEER

RADIUS

public static final double RADIUS

MAX_TURRET

public static final double MAX_TURRET

Max rate of turn of the turret in radians/sec.

SONAR_RADIUS

public static final double SONAR_RADIUS

How far sonar ring is from center of robot.

Method Detail

getTurretHeading

public double getTurretHeading(long timestamp)

Get the current heading of the turret motor.

Parameters:: timestamp - only get new information if timestamp > than last call or timestamp == -1.
Returns:: the turret heading in radians.
See Also:: setTurretHeading(long, double), resetTurretHeading(double)

resetTurretHeading

public void resetTurretHeading(double heading)

Reset the turret odometry of the robot in global coordinates. This might be done when reliable sensor information provides a very good estimate of the robot's turret heading. Do this only if you are certain you're right!

Parameters:: heading - the new turret heading in radians.
See Also:: getTurretHeading(long), setTurretHeading(long, double)

setTurretHeading

public void setTurretHeading(long timestamp,
                             double heading)

Set the desired heading for the turret motor.

Parameters:: timestamp - only get new information if timestamp > than last call or timestamp == -1.; heading - the heading in radians.
See Also:: getTurretHeading(long), resetTurretHeading(double)