lejos.robotics.proposal
Class CarefulDifferentialPilot

java.lang.Object
  lejos.robotics.proposal.DifferentialPilot
      lejos.robotics.proposal.CarefulDifferentialPilot

All Implemented Interfaces:

MovementProvider, ArcPilot, ArcRotatePilot, BasicPilot, RotatePilot

public class CarefulDifferentialPilot
extends DifferentialPilot

Field Summary

Fields inherited from class lejos.robotics.proposal.DifferentialPilot

_alert, _left, _leftDegPerDistance, _leftTurnRatio, _leftWheelDiameter, _minRadius, _motorSpeed, _moveType, _parity, _regulating, _right, _rightDegPerDistance, _rightTurnRatio, _rightWheelDiameter, _robotMoveSpeed, _robotTurnSpeed, _trackWidth, listeners

Constructor Summary

CarefulDifferentialPilot(RangeFinder rangeFinder, float tolerance, float wheelDiameter, float trackWidth, TachoMotor leftMotor, TachoMotor rightMotor, boolean reverse)

Method Summary

protected boolean

continueMoving() This method can be overridden by subclasses to stop the robot if a hazard is detected

Methods inherited from class lejos.robotics.proposal.DifferentialPilot

addMoveListener, arc, arc, arc, backward, forward, getAngle, getAngleIncrement, getLeft, getLeftActualSpeed, getLeftCount, getMinRadius, getMoveMaxSpeed, getMovement, getMovementIncrement, getMoveSpeed, getRight, getRightActualSpeed, getRightCount, getTravelDistance, getTurnMaxSpeed, getTurnRatio, getTurnSpeed, isMoving, movementStart, movementStop, reset, rotate, rotate, setMinRadius, setMoveSpeed, setSpeed, setSpeed, setTurnSpeed, steer, steer, steer, stop, travel, travel, travelArc, travelArc, turnRate

Methods inherited from class java.lang.Object

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

Constructor Detail

CarefulDifferentialPilot

public CarefulDifferentialPilot(RangeFinder rangeFinder,
                                float tolerance,
                                float wheelDiameter,
                                float trackWidth,
                                TachoMotor leftMotor,
                                TachoMotor rightMotor,
                                boolean reverse)

Method Detail

continueMoving

protected boolean continueMoving()

Description copied from class: DifferentialPilot

This method can be overridden by subclasses to stop the robot if a hazard is detected

Overrides:

continueMoving in class DifferentialPilot

Returns:

true iff no hazard is detected