dlife.robot.hemisson
Class HemissonIRSensor

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.robot.ArraySensor<Integer>
              dlife.robot.hemisson.HemissonIRSensor

Direct Known Subclasses:

HemissonProximitySensor

public class HemissonIRSensor
extends ArraySensor<Integer>

A class for reading the Hemisson's infrared (IR) sensors. Each IR sensor reports an integer value in the range [0...255] with smaller values indicating more intense IR light. These sensors are passive, they detect IR light that is present in the robot's environment. The IR sensors are arranged around the robot as shown in Figure 1 below.

Figure 1: A Hemisson robot with blue-tooth radio module attached and and the IR/Proximity sensors labeled.
Red circles represent outward facing sensors.
Yellow circles represent downward facing sensors.
Numerals in the circles correspond to the index of the sensor data
in the HemissonIRSensor and HemissonProximitySensor objects.

Methods are provided for reading the sensors in a variety of ways as illustrated below. The sample code shown assumes that an IR sensor has been created and added to the robot (typically in the startUp method of a Controller) as shown: here:

HemissonIRSensor hir = new HemissonIRSensor();
robot.add(hir);

It is possible to retrieve all or a sub-set of the sensor readings as an ArrayList:

ArrayList<Integer> allVals = hir.getValues();
ArrayList<Integer> frontIR = hir.getSubset(HemissionIRSensor.FRONT_GROUP);
ArrayList<Integer> sideIRs = hir.getSubset(3,4);

It is also possible to retrieve an individual sensor reading, either by index or by using one of the defined class constants:

int frontIR = hir.getValue(0);
int rearIR = hir.getValue(HemissonIRSensor.REAR);

Methods are also provided for obtaining the maximum, minimum or average of a group of sensor readings:

int maxIR = hir.getMaximum();
int maxFrontIR = hir.getMaximum(HemissonIRSensor.FRONT_GROUP);
int groundAve = hir.getAverage(HemissionIRSensor.GROUND_GROUP);
int sideMin = hir.getMinimum(3,4);

Version:

Apr 17, 2007

Author:

Grant Braught, Dickinson College

Nested Class Summary

protected static class

HemissonIRSensor.IRSensorDisplay A display for the values of a HemissonIRSensor.

Field Summary

static int	FRONT The Hemisson's front sensor.
static int[]	FRONT_GROUP Sensor group for the Hemisson's front sensors.
static int	FRONT_LEFT The Hemisson's front left sensor.
static int	FRONT_RIGHT The Hemisson's front right sensor.
static int[]	GROUND_GROUP Sensor group for the Hemisson's ground facing sensors.
static int	GROUND_LEFT The Hemisson's front left downward facing sensor.
static int	GROUND_RIGHT The Hemisson's front right downward facing sensor.
static int	LEFT The Hemisson's left sensor.
static int[]	LEFT_GROUP Sensor group for the Hemisson's left side sensors.
static int[]	NON_GROUND_GROUP Sensor group for all of the Hemisson's outward facing sensors.
static int	REAR The Hemisson's rear sensor.
static int	RIGHT The Hemisson's right sensor.
static int[]	RIGHT_GROUP Sensor group for the Hemisson's right side sensors.

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

HemissonIRSensor()
Construct a new HemissonIRSensor.

Method Summary

protected DeviceDisplay[]	createGUIObjects() Get the object that is the GUI for this HemissonIRSensor.
void	freeze() Does nothing.
static void	main(String[] args) A little test program for the HemissonIRSensor.
protected void	read(String cmd) Protected method to allow the sub-class for the proximity sensor to share this code.
void	readStateFromRobot() Get the current IR light sensor readings from the Hemisson.

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

getAutoRead, getGUI, getGUIUpdateDelay, getReadDelay, getRobot, getSensorReadCount, getSensorReadRate, 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

Field Detail

FRONT_GROUP

public static final int[] FRONT_GROUP

Sensor group for the Hemisson's front sensors. This group includes sensors 2, 0 and 1 in that order.

RIGHT_GROUP

public static final int[] RIGHT_GROUP

Sensor group for the Hemisson's right side sensors. This group includes sensors 1 and 3 in that order.

LEFT_GROUP

public static final int[] LEFT_GROUP

Sensor group for the Hemisson's left side sensors. This group includes sensors 2 and 4 in that order.

GROUND_GROUP

public static final int[] GROUND_GROUP

Sensor group for the Hemisson's ground facing sensors. This group includes sensors 6 and 7 in that order.

NON_GROUND_GROUP

public static final int[] NON_GROUND_GROUP

Sensor group for all of the Hemisson's outward facing sensors. This group includes sensors 0-5 in that order.

FRONT

public static final int FRONT

The Hemisson's front sensor.

See Also:

Constant Field Values

FRONT_RIGHT

public static final int FRONT_RIGHT

The Hemisson's front right sensor.

See Also:

Constant Field Values

FRONT_LEFT

public static final int FRONT_LEFT

The Hemisson's front left sensor.

See Also:

Constant Field Values

RIGHT

public static final int RIGHT

The Hemisson's right sensor.

See Also:

Constant Field Values

LEFT

public static final int LEFT

The Hemisson's left sensor.

See Also:

Constant Field Values

REAR

public static final int REAR

The Hemisson's rear sensor.

See Also:

Constant Field Values

GROUND_RIGHT

public static final int GROUND_RIGHT

The Hemisson's front right downward facing sensor.

See Also:

Constant Field Values

GROUND_LEFT

public static final int GROUND_LEFT

The Hemisson's front left downward facing sensor.

See Also:

Constant Field Values

Constructor Detail

HemissonIRSensor

public HemissonIRSensor()

Construct a new HemissonIRSensor.

Method Detail

readStateFromRobot

public void readStateFromRobot()

Get the current IR light sensor readings from the Hemisson. The new values are copied into the values array defined by the IntegerArraySensor class.

Specified by:

readStateFromRobot in class Device

Throws:

RobotCommunicationException - if unable to communicate with the Hemisson.

freeze

public void freeze()

Does nothing. There is no motion associated with an IR sensor to stop.

Specified by:

freeze in class Device

read

protected void read(String cmd)

Protected method to allow the sub-class for the proximity sensor to share this code.

Parameters:

cmd - the command string for reading the sensor.

Throws:

RobotCommunicationException - if unable to communicate with the Hemisson.

createGUIObjects

protected DeviceDisplay[] createGUIObjects()

Get the object that is the GUI for this HemissonIRSensor.

Specified by:

createGUIObjects in class Device

Returns:

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

main

public static void main(String[] args)

A little test program for the HemissonIRSensor. This creates a new Hemisson and a new HemissonIRSensor. It displays the GUI for the ir sensor readings until the window is closed.

Parameters:

args - none