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SUMMARY: INNER | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Object | +--EDU.gatech.cc.is.abstractrobot.Simple | +--EDU.gatech.cc.is.abstractrobot.SimpleN150Hard
SimpleN150Hard implements SimpleN150 for Nomad 150 hardware using the Ndirect class. You should see the specifications in SimpleN150 and Ndirect class documentation for details.
Copyright (c)1998 Tucker Balch
SimpleN150
,
Ndirect
Field Summary | |
protected double |
base_speed
|
protected double |
cycles
|
protected static boolean |
DEBUG
|
protected double |
desired_heading
|
protected double |
desired_speed
|
protected int |
hard_command
|
protected boolean |
in_reverse
|
protected boolean |
keep_running
|
protected Vec2[] |
last_Obstacles
|
protected Vec2 |
last_Position
|
protected double |
last_SteerHeading
|
protected double |
last_TurretHeading
|
protected Ndirect |
nomad150_hardware
|
protected int |
num_Obstacles
|
protected int |
obstacle_rangeInch
|
protected double |
old_desired_heading
|
protected double |
old_desired_turret_heading
|
protected int |
old_hard_command
|
protected double |
run_time_sum
|
protected int[] |
sonar_raw_data
|
protected double |
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.SimpleN150 |
MAX_STEER,
MAX_TRANSLATION,
MAX_TURRET,
RADIUS,
SONAR_RADIUS |
Constructor Summary | |
SimpleN150Hard(int serial_port,
int baud)
Instantiate a SimpleN150Hard object. |
Method Summary | |
java.awt.Color |
getBackgroundColor()
Gets the background color of the robot. |
java.awt.Color |
getForegroundColor()
Gets the foreground color of the robot. |
Vec2[] |
getObstacles(long timestamp)
Get an array of Vec2s that point egocentrically from the center of the robot to the obstacles currently sensed by the bumpers and sonars. |
Vec2 |
getPosition(long timestamp)
Get the position of the robot in global coordinates. |
double |
getSteerHeading(long timestamp)
Get the current heading of the steering motor (radians). |
long |
getTime()
Gets time elapsed since the robot was instantiated. |
double |
getTurretHeading(long timestamp)
Get the current heading of the turret motor. |
void |
quit()
Quit the I/O thread. |
void |
resetPosition(Vec2 p)
Reset the odometry of the robot in global coordinates. |
void |
resetSteerHeading(double heading)
Reset the steering odometry of the robot in global coordinates. |
void |
resetTurretHeading(double heading)
Reset the turret odometry of the robot in global coordinates. |
void |
setBaseSpeed(double speed)
Set the base speed for the robot (translation) in meters per second. |
void |
setDisplayString(java.lang.String s)
Set the String that is printed on the robot's display. |
void |
setObstacleMaxRange(double range)
Set the maximum range at which a sensor reading should be considered an obstacle. |
void |
setSpeed(long timestamp,
double speed)
Set the desired speed for the robot (translation). |
void |
setSteerHeading(long timestamp,
double heading)
Set the desired heading for the steering motor. |
void |
setTurretHeading(long timestamp,
double heading)
Set the desired heading for the turret motor. |
void |
takeStep()
Conducts periodic I/O with the robot. |
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 |
Field Detail |
protected Ndirect nomad150_hardware
protected static final boolean DEBUG
protected double cycles
protected double run_time_sum
protected double time_sum
protected boolean keep_running
protected double old_desired_heading
protected double old_desired_turret_heading
protected int hard_command
protected int old_hard_command
protected int[] sonar_raw_data
protected Vec2[] last_Obstacles
protected int num_Obstacles
protected int obstacle_rangeInch
protected Vec2 last_Position
protected double last_SteerHeading
protected boolean in_reverse
protected double desired_heading
protected double last_TurretHeading
protected double desired_speed
protected double base_speed
Constructor Detail |
public SimpleN150Hard(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()
public void quit()
public long getTime()
public Vec2[] getObstacles(long timestamp)
timestamp
- only get new information
if timestamp > than last call or timestamp == -1 .public void setObstacleMaxRange(double range)
range
- the range in meters.public Vec2 getPosition(long timestamp)
timestamp
- only get new information
if timestamp > than last call or timestamp == -1.resetPosition(EDU.gatech.cc.is.util.Vec2)
public void resetPosition(Vec2 p)
position
- the new position.getPosition(long)
public double getSteerHeading(long timestamp)
timestamp
- only get new information
if timestamp > than last call or timestamp == -1 .resetSteerHeading(double)
,
setSteerHeading(long, double)
public void resetSteerHeading(double heading)
heading
- the new heading in radians.getSteerHeading(long)
,
setSteerHeading(long, double)
public void setSteerHeading(long timestamp, double heading)
heading
- the heading in radians.getSteerHeading(long)
,
resetSteerHeading(double)
public double getTurretHeading(long timestamp)
timestamp
- only get new information
if timestamp > than last call or timestamp == -1 .setTurretHeading(long, double)
,
resetTurretHeading(double)
public void resetTurretHeading(double heading)
heading
- the new turret heading in radians.getTurretHeading(long)
,
setTurretHeading(long, double)
public void setTurretHeading(long timestamp, double heading)
heading
- the heading in radians.getTurretHeading(long)
,
resetTurretHeading(double)
public void setSpeed(long timestamp, double speed)
timestamp
- only get new information
if timestamp > than last callspeed
- the desired speed from 0 to 1.0, where 1.0 is the
base speed.setSteerHeading(long, double)
,
setBaseSpeed(double)
public void setBaseSpeed(double speed)
speed
- the desired speed from 0 to 1.0, where 1.0 is the
base speed.setSpeed(long, double)
public void setDisplayString(java.lang.String s)
s
- String, the text to display.public java.awt.Color getForegroundColor()
public java.awt.Color getBackgroundColor()
|
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