dlife.robot
Class DeadReckoningSensor

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.robot.ArraySensor<Double>
              dlife.robot.DeadReckoningSensor

Direct Known Subclasses:

PioneerDeadReckoning

public abstract class DeadReckoningSensor
extends ArraySensor<Double>

Abstract base class for Sensors that access the dead reckoning data from a robot. This base class provides methods for accessing the the X,Y and Theta positions of the robot.

Version:

Jun 25, 2008

Author:

Grant Braught, Dickinson College

Field Summary

static int	THETA_COORDINATE The Theta Coordinate (in degrees) of the Dead Reckoning data.
static int	X_COORDINATE The X Coordinate of the Dead Reckoning data.
static int	Y_COORDINATE The X Coordinate of the Dead Reckoning data.

Fields inherited from class dlife.robot.ArraySensor

length, values

Fields inherited from class dlife.robot.Device

DEFAULT_GUI_UPDATE_DELAY, DEFAULT_READ_DELAY, myRobot, readCount

Constructor Summary

DeadReckoningSensor()
Create a new DeadReckoningSensor.

Method Summary

protected DeviceDisplay[]	createGUIObjects() Build the GUI for this DeadReckoning sensor and return a reference to it.
double	getThetaDegrees() Get the Theta coordinate (in degrees) from the robot's dead reckoning device.
double	getThetaRadians() Get the Theta coordinate (in radians) from the robot's dead reckoning device.
int	getX() Get the X coordinate (in millimeters) from the robot's dead reckoning device.
int	getY() Get the Y coordinate (in millimeters) from the robot's dead reckoning device.
abstract void	reset() Reset the robot's dead reckoning device to the position (0,0,0).
void	startUp() When the DeadReckoningSensor is started it resets the sensor to the position (0,0,0).

Methods inherited from class dlife.robot.ArraySensor

getAverage, getAverage, getMaximum, getMaximum, getMaximumIndex, getMaximumIndex, getMinimum, getMinimum, getMinimumIndex, getMinimumIndex, getNumValues, getSubset, getValue, getValues

Methods inherited from class dlife.robot.Device

freeze, getAutoRead, getGUI, getGUIUpdateDelay, getReadDelay, getRobot, getSensorReadCount, getSensorReadRate, readStateFromRobot, setAutoRead, setGUIUpdateDelay, setReadDelay, setRobot, shutDown, startAutoReadTimer, stopAutoReadTimer

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object

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

Field Detail

X_COORDINATE

public static final int X_COORDINATE

The X Coordinate of the Dead Reckoning data.

See Also:

Constant Field Values

Y_COORDINATE

public static final int Y_COORDINATE

The X Coordinate of the Dead Reckoning data.

See Also:

Constant Field Values

THETA_COORDINATE

public static final int THETA_COORDINATE

The Theta Coordinate (in degrees) of the Dead Reckoning data.

See Also:

Constant Field Values

Constructor Detail

DeadReckoningSensor

public DeadReckoningSensor()

Create a new DeadReckoningSensor.

Method Detail

createGUIObjects

protected DeviceDisplay[] createGUIObjects()

Build the GUI for this DeadReckoning sensor and return a reference to it.

Specified by:

createGUIObjects in class Device

Returns:

an array of DeviceDisplay subclass objects that make up the GUI for this Device.

startUp

public void startUp()

When the DeadReckoningSensor is started it resets the sensor to the position (0,0,0).

Overrides:

startUp in class Device

getX

public int getX()

Get the X coordinate (in millimeters) from the robot's dead reckoning device.

Returns:

the X coordinate.

getY

public int getY()

Get the Y coordinate (in millimeters) from the robot's dead reckoning device.

Returns:

the Y coordinate.

getThetaDegrees

public double getThetaDegrees()

Get the Theta coordinate (in degrees) from the robot's dead reckoning device.

Returns:

the Theta coordinate in degrees.

getThetaRadians

public double getThetaRadians()

Get the Theta coordinate (in radians) from the robot's dead reckoning device.

Returns:

the Theta coordinate in radians.

reset

public abstract void reset()

Reset the robot's dead reckoning device to the position (0,0,0).