lejos.robotics
Class SimplePlatform

java.lang.Object
  lejos.robotics.SimplePlatform

All Implemented Interfaces:

RotationPlatform

Direct Known Subclasses:

ExtendedPlatform

public class SimplePlatform
extends java.lang.Object
implements RotationPlatform

Constructor Summary

SimplePlatform(TachoMotor directionMotor)

SimplePlatform(TachoMotor directionMotor, boolean invertDir)

SimplePlatform(TachoMotor directionMotor, boolean invertDir, double ratioDir)

Method Summary

int	getAbsoluteDirection(Pose pose) Includes the direction of the pilot in the calculation of the real angle of the sensor (as opposed to the relative direction of the sensor) NOTE: There is no corresponding setAbsoluteDirection() method because the angle the Pilot would rotate to and the angle the sensor would rotate to would be ambiguous.
int	getDirection() Get the direction the sensor will face.
int	getMaximumDirection() Cables or other hindrances can restrict movement of the platform.
int	getMinimumDirection() Cables or other hindrances can restrict movement of the platform.
int	getRotationSpeed() Gets the speed the platform rotates, in degrees per second.
float	getXOffset()
float	getYOffset()
float	getZOffset()
void	scanLeft() Starts rotating counterclockwise (left).
void	scanRight() Starts rotating to the clockwise (right).
void	setDirection(int angle) Rotates the sensor to the desired angle.
void	setMaximumDirection(int maxAngle) Cables or other hindrances can restrict movement of the platform.
void	setMinimumDirection(int minAngle) Cables or other hindrances can restrict movement of the platform.
void	setRotationSpeed(int speed) Sets the speed the platform should rotate, in degrees per second.
void	setXOffset() The actual central axis of the sensor rotator will reside off center from the actual robot center.
void	setYOffset()
void	setZOffset()
void	stopRotation() Stops a rotation in motion from one of the rotate methods, like rotateLeft() or rotateUp().
boolean	zero() This method calibrates the direction and elevation to the zero angle position, which is pointing in the same direction as the robot and facing horizontal.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SimplePlatform

public SimplePlatform(TachoMotor directionMotor)

SimplePlatform

public SimplePlatform(TachoMotor directionMotor,
                      boolean invertDir)

SimplePlatform

public SimplePlatform(TachoMotor directionMotor,
                      boolean invertDir,
                      double ratioDir)

Method Detail

getAbsoluteDirection

public int getAbsoluteDirection(Pose pose)

Description copied from interface: RotationPlatform

Includes the direction of the pilot in the calculation of the real angle of the sensor (as opposed to the relative direction of the sensor) NOTE: There is no corresponding setAbsoluteDirection() method because the angle the Pilot would rotate to and the angle the sensor would rotate to would be ambiguous. e.g. to rotate the sensor 90 degrees, the Pilot could rotate 10 degrees and the sensor 80 degrees, or any number of combinations to get 90 degrees.

Specified by:

getAbsoluteDirection in interface RotationPlatform

Returns:

getDirection

public int getDirection()

Description copied from interface: RotationPlatform

Get the direction the sensor will face. The direction is relative to the robot.

Specified by:

getDirection in interface RotationPlatform

Returns:

the relative direction of the sensor in degrees (0 to 360, increasing counter clockwise from 0, the starting position)

getMaximumDirection

public int getMaximumDirection()

Description copied from interface: RotationPlatform

Cables or other hindrances can restrict movement of the platform. This method indicates the maximum it can rotate left.

Specified by:

getMaximumDirection in interface RotationPlatform

Returns:

getMinimumDirection

public int getMinimumDirection()

Description copied from interface: RotationPlatform

Cables or other hindrances can restrict movement of the platform. This method indicates the maximum it can rotate right.

Specified by:

getMinimumDirection in interface RotationPlatform

Returns:

getRotationSpeed

public int getRotationSpeed()

Description copied from interface: RotationPlatform

Gets the speed the platform rotates, in degrees per second. The default speed is XX degrees/second.

Specified by:

getRotationSpeed in interface RotationPlatform

Returns:

getXOffset

public float getXOffset()

Specified by:

getXOffset in interface RotationPlatform

getYOffset

public float getYOffset()

Specified by:

getYOffset in interface RotationPlatform

getZOffset

public float getZOffset()

Specified by:

getZOffset in interface RotationPlatform

scanLeft

public void scanLeft()

Description copied from interface: RotationPlatform

Starts rotating counterclockwise (left). Automatically stops when the angle matches or exceeds getMaximumDirection().

Specified by:

scanLeft in interface RotationPlatform

scanRight

public void scanRight()

Description copied from interface: RotationPlatform

Starts rotating to the clockwise (right). Automatically stops when the angle matches or is less than getMinimumDirection().

Specified by:

scanRight in interface RotationPlatform

setDirection

public void setDirection(int angle)

Description copied from interface: RotationPlatform

Rotates the sensor to the desired angle. The direction is relative to the robot. The method will not return until the rotator has achieved the target angle.

Specified by:

setDirection in interface RotationPlatform

Parameters:

angle - The angle, in degrees, to rotate to. 0 to 360, increasing counter clockwise from 0, the starting position.

setMaximumDirection

public void setMaximumDirection(int maxAngle)

Description copied from interface: RotationPlatform

Cables or other hindrances can restrict movement of the platform. This method sets the maximum angle it can rotate left.

Specified by:

setMaximumDirection in interface RotationPlatform

setMinimumDirection

public void setMinimumDirection(int minAngle)

Description copied from interface: RotationPlatform

Cables or other hindrances can restrict movement of the platform. This method sets the maximum angle it can rotate right.

Specified by:

setMinimumDirection in interface RotationPlatform

setRotationSpeed

public void setRotationSpeed(int speed)

Description copied from interface: RotationPlatform

Sets the speed the platform should rotate, in degrees per second. The default speed is XX degrees/second.

Specified by:

setRotationSpeed in interface RotationPlatform

setXOffset

public void setXOffset()

Description copied from interface: RotationPlatform

The actual central axis of the sensor rotator will reside off center from the actual robot center. So we could include methods to set the x offset, y offset and z offset from the center of robot (center = point between wheels).

Specified by:

setXOffset in interface RotationPlatform

setYOffset

public void setYOffset()

Specified by:

setYOffset in interface RotationPlatform

setZOffset

public void setZOffset()

Specified by:

setZOffset in interface RotationPlatform

stopRotation

public void stopRotation()

Description copied from interface: RotationPlatform

Stops a rotation in motion from one of the rotate methods, like rotateLeft() or rotateUp().

Specified by:

stopRotation in interface RotationPlatform

zero

public boolean zero()

Description copied from interface: RotationPlatform

This method calibrates the direction and elevation to the zero angle position, which is pointing in the same direction as the robot and facing horizontal. If the sensor platform uses a touch sensor, light sensor or some other sensor to calibrate the position, this can be used in conjunction with motor movements to set the position to the zero position, then reset the angles to zero. Otherwise this method relies on the user to set the sensor platform to the zero position manually by hand.

Specified by:

zero in interface RotationPlatform

Returns:

true if calibration worked, false if it failed.