dlife.robot
Class OdometrySensor

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

Direct Known Subclasses:

PioneerOdometry

public abstract class OdometrySensor
extends ArraySensor<Double>

Abstract base class for Sensors that access a robot's Odometry data from.

Version:

Jun 25, 2008

Author:

Grant Braught, Dickinson College

Field Summary

static int	ANGLE_COORDINATE The Angle Coordinate of the odometry data.
static int	DISTANCE_COORDINATE The Distance Coordinate of the odometry 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

OdometrySensor()
Create a new OdometrySensor.

Method Summary

protected DeviceDisplay[]	createGUIObjects() Construct the GUI object for this OdometrySensor.
double	getAngleDegrees() Get the Angle coordinate (in degrees) from the robot's odometry device.
double	getAngleRadians() Get the Angle coordinate (in radians) from the robot's odometry device.
int	getDistance() Get the Distance coordinate (in millimeters) from the robot's odometry device.
abstract void	reset() Reset the robot's odometry device to (0,0).
void	startUp() When the OdometrySensor is started it resets the sensor to (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

DISTANCE_COORDINATE

public static final int DISTANCE_COORDINATE

The Distance Coordinate of the odometry data.

See Also:

Constant Field Values

ANGLE_COORDINATE

public static final int ANGLE_COORDINATE

The Angle Coordinate of the odometry data.

See Also:

Constant Field Values

Constructor Detail

OdometrySensor

public OdometrySensor()

Create a new OdometrySensor.

Method Detail

startUp

public void startUp()

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

Overrides:

startUp in class Device

getDistance

public int getDistance()

Get the Distance coordinate (in millimeters) from the robot's odometry device.

Returns:

the distance.

getAngleDegrees

public double getAngleDegrees()

Get the Angle coordinate (in degrees) from the robot's odometry device.

Returns:

the angle in degrees.

getAngleRadians

public double getAngleRadians()

Get the Angle coordinate (in radians) from the robot's odometry device.

Returns:

the Angle in radians.

createGUIObjects

protected DeviceDisplay[] createGUIObjects()

Construct the GUI object for this OdometrySensor.

Specified by:

createGUIObjects in class Device

Returns:

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

reset

public abstract void reset()

Reset the robot's odometry device to (0,0).