lejos.robotics.navigation
Class SimpleNavigator

java.lang.Object
  lejos.robotics.navigation.SimpleNavigator

Direct Known Subclasses:

TachoLocalizer

public class SimpleNavigator
extends Object

The SimpleNavigator class uses dead reckoning to keep track of its robot pose (the location in the plane and its heading - the direction in which it moves). While dead reckoning is relatively easy to implement and very quick to caolculate, its disadvantage is that errors in the estimated pose accumulate.
SimpleNavigator can perform three elementary movements in a plane: trvel in a straignt line, move in the arc of a circle, and a rotate in place. The movement commands have an immediate return option which is useful, for example, for a client class that uses s SimpleNavigataor to detect obstacles or monitor incoming messages while moving.
This class uses a private Pilot object to execute these moves. The Pilot directly controls the hardware, which must be able to turn in place, for example using 2 wheel differential steering. The Pilot is passed to the Navitator a the parameter of its constructor. After the Navigator is constructed, the client has no further need for the Pilot, but issues commands to the Navigator. If the client bypasses the navigator and issues commsnds directly to the Pilot, this will destroy the accuracy of the Navigataor's pose.
A note about coordinates: All angles are in degrees, distances in the units used to specify robot dimensions. Angles related to positions in the plane are relative to the X axis ; direction of the Y axis is 90 degrees. The x and y coordinate values and the direction angle are all initialized to 0, so if the first move is forward() the robot will run along the x axis.

Constructor Summary

SimpleNavigator(float wheelDiameter, float