dlife.robot
Class DeltaPositionEffector

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.robot.DeltaPositionEffector

Direct Known Subclasses:

Khepera3DeltaPositionEffector

public abstract class DeltaPositionEffector
extends Device

Abstract base class for effectors that use odometry to move a robot a specified distance forward or backward or rotate it CW or CCW a specified angle.

Version:

August 25, 2009

Author:

Russell Toris, Dickinson College

Field Summary

Fields inherited from class dlife.robot.Device

DEFAULT_GUI_UPDATE_DELAY, DEFAULT_READ_DELAY, myRobot, readCount

Constructor Summary

DeltaPositionEffector()
Creates a new DeltaPositionEffector

Method Summary

protected DeviceDisplay[]	createGUIObjects() Construct the DeltaPositionController that will be used as the GUI for this DeltaPositionEffector.
int	getAngle() Get the current angle setting for this DeltaPositionEffector.
int	getDistance() Get the current distance setting for this DeltaPositionEffector.
double	getSpeed() Get the current speed setting for this DeltaPositionEffector.
abstract boolean	isDone() This method is used to check if a robot is done moving to the specified location or finished rotating.
protected abstract void	moveRobotDistance(int dist, double speed) This method must be implemented in a subclass and is responsible for moving the robot a certain distance at a given speed.
void	rotate() Repeat the last rotation.
void	rotate(int angle, double speed) Rotate a robot by a certain angle.
protected abstract void	rotateRobotAngle(int angle, double speed) This method must be implemented in a subclass and is responsible for rotating the rotate by a certain number of degrees at a certain speed.
void	setAngle(int newAngle) Set the angle to be rotated in degrees.
void	setDistance(int newDistance) Set the distance to be traveled in millimeters.
void	setSpeed(double newSpeed) Set the speed for rotation or translation.
void	translate() Translate the robot by the distance returned from getDistance() at the speed returned from getSpeed().
void	translate(int distance, double speed) Drives a robot forward or backward by a certain distance at a certain speed.

Methods inherited from class dlife.robot.Device

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

Constructor Detail

DeltaPositionEffector

public DeltaPositionEffector()

Creates a new DeltaPositionEffector

Method Detail

translate

public void translate(int distance,
                      double speed)

Drives a robot forward or backward by a certain distance at a certain speed. The distance should be given in millimeters and speed should be a value between -1 and 1. The isDone method will return false until the distance has been covered. If the speed or distance are 0 then isDone will return true immediately. This method invokes an abstract method, moveRobotDistance, which is responsible for making calls to the robot.

Parameters:

distance - the distance to drive in millimeters

speed - the speed to drive

translate

public void translate()

Translate the robot by the distance returned from getDistance() at the speed returned from getSpeed(). Those values will be the values set by setDistance() and setSpeed() or will be the values provided in the most recent call to translate(distance, speed). The isDone method will return false until the distance has been covered. If the speed or distance are 0 then isDone will return true immediately.

rotate

public void rotate(int angle,
                   double speed)

Rotate a robot by a certain angle. The angle should be given in degrees and speed should be a value between -1 and 1. The isDone method will return false until the angled has been covered. If the speed or angle are 0 then isDone will return true immediately. This method invokes an abstract method, rotateRobotAngle, which is responsible for making calls to the robot.

Parameters:

angle - the angle to turn in degrees

speed - the speed to turn

rotate

public void rotate()

Repeat the last rotation. This rotates the robot by the angle returned by getAngle() at the speed returned by getSpeed(). Those values will be the values set by setAngle() and setSpeed() or will be the values provided in the most recent call to rotate(angle, speed). The isDone method will return false until the angled has been covered. If the speed or angle are 0 then isDone will return true immediately.

getDistance

public int getDistance()

Get the current distance setting for this DeltaPositionEffector. This is the distance that will be moved if translate() is called.

Returns:

the current distance setting.

setDistance

public void setDistance(int newDistance)

Set the distance to be traveled in millimeters. Subsequent calls to translate() will travel this distance.

Parameters:

newDistance - the distance to be traveled in millimeters.

getAngle

public int getAngle()

Get the current angle setting for this DeltaPositionEffector. This is the angle that will be rotate if rotate() is called.

Returns:

the current angle setting.

setAngle

public void setAngle(int newAngle)

Set the angle to be rotated in degrees. Subsequent calls to rotate() will rotate through this angle.

Parameters:

newAngle - the angle to be rotated in degrees.

getSpeed

public double getSpeed()

Get the current speed setting for this DeltaPositionEffector. This is the speed at which the robot will translate or rotate if translate() or rotate() are called.

Returns:

the current speed setting.

setSpeed

public void setSpeed(double newSpeed)

Set the speed for rotation or translation. The speed should be in the range [-1...1]. Values outside of that range will be bounded to the range. Subsequent calls to translate() or rotate() will use this speed.

Parameters:

newSpeed - the new speed

createGUIObjects

protected DeviceDisplay[] createGUIObjects()

Construct the DeltaPositionController that will be used as the GUI for this DeltaPositionEffector.

Specified by:

createGUIObjects in class Device

Returns:

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

moveRobotDistance

protected abstract void moveRobotDistance(int dist,
                                          double speed)

This method must be implemented in a subclass and is responsible for moving the robot a certain distance at a given speed. All distances will be given in millimeters and all speeds will be a value between -1 and 1.

Parameters:

dist - the distance in millimeters to drive the robot

speed - the speed at which to drive

rotateRobotAngle

protected abstract void rotateRobotAngle(int angle,
                                         double speed)

This method must be implemented in a subclass and is responsible for rotating the rotate by a certain number of degrees at a certain speed. All speeds will be a value between -1 and 1.

Parameters:

angle - the angle given in degrees

speed - the speed at which to rotate

isDone

public abstract boolean isDone()

This method is used to check if a robot is done moving to the specified location or finished rotating. If the distance or angle being moved or the speed of motion is 0, then this method should return true immediately.

Returns:

if the robot has completed its movement task