dlife.robot.hemisson
Class HemissonDifferentialDrive

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.robot.DifferentialDriveEffector
              dlife.robot.hemisson.HemissonDifferentialDrive

public class HemissonDifferentialDrive
extends DifferentialDriveEffector

A class to control the motion of the Hemisson robot. Note: Significant and sudden changes in the Hemisson's motion (e.g. translation value changing from -1 to 1) required significant power from the battery and can cause a loss of communication with the robot.

Version:

Jun 8, 2008

Author:

Grant Braught, Dickinson College

Field Summary

Fields inherited from class dlife.robot.DifferentialDriveEffector

vL, vR

Fields inherited from class dlife.robot.Device

DEFAULT_GUI_UPDATE_DELAY, DEFAULT_READ_DELAY, myRobot, readCount

Constructor Summary

HemissonDifferentialDrive()
Construct a new HemissonDifferentialDrive.

Method Summary

static void	main(String[] args) A little main method that lets a Hemisson be driven around using the control.
void	readStateFromRobot() Does nothing.
protected void	setRobotWheelSpeeds(double left, double right) Send a message to the Hemisson to set the speeds of its wheels according to the specified speeds.

Methods inherited from class dlife.robot.DifferentialDriveEffector

createGUIObjects, freeze, getLeftWheelSpeed, getRightWheelSpeed, getRotation, getTranslation, move, rotate, setWheelSpeeds, shutDown, translate

Methods inherited from class dlife.robot.Device

getAutoRead, getGUI, getGUIUpdateDelay, getReadDelay, getRobot, getSensorReadCount, getSensorReadRate, setAutoRead, setGUIUpdateDelay, setReadDelay, setRobot, 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

HemissonDifferentialDrive

public HemissonDifferentialDrive()

Construct a new HemissonDifferentialDrive.

Method Detail

readStateFromRobot

public void readStateFromRobot()

Does nothing. The Hemisson does not report the wheel speeds so we just rely on the values cached by the DifferentialDriveEffector class.

Specified by:

readStateFromRobot in class Device

setRobotWheelSpeeds

protected void setRobotWheelSpeeds(double left,
                                   double right)

Send a message to the Hemisson to set the speeds of its wheels according to the specified speeds. The provided speeds should be in the range [-1...1]. Values not in this range will be bounded to this range.

Note that the physical Hemisson accepts wheel speeds in the range [-9...9]. Thus, the provided speeds will be scaled by a factor of 9 before being sent to the actual robot.

Specified by:

setRobotWheelSpeeds in class DifferentialDriveEffector

Parameters:

left - the speed of the left wheel.

right - the speed of the right wheel.

Throws:

RobotCommunicationException - if unable to communicate with the Hemisson.

main

public static void main(String[] args)
                 throws Exception

A little main method that lets a Hemisson be driven around using the control.

Parameters:

args - none

Throws:

Exception