dlife.robot.hemisson
Class HemissonProximitySensor

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

public class HemissonProximitySensor
extends HemissonIRSensor

A class for reading the Hemisson's proximity sensors. Each sensor reading is an integer value in the range [0...255] with larger values indicating closer obstacles. Note that the value returned depends not only on the distance to the obstacle but also on the IR reflectivity of its material. Thus there is no direct conversion from a proximity sensor reading to the distance to the obstacle. See the Hemisson Manuals for more information.

The proximity sensors are active sensors. They emit a burst of IR light and then detect how much of it is reflected. This allows the sensor to detect obstacles but can also be used to distinguish between surfaces with different IR reflectivity.

The proximity 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.

See the HemissonIRSensor documentation for examples of how to access the sensor values.

Version:

May 22, 2007

Author:

Grant Braught, Dickinson College

Nested Class Summary

Nested classes/interfaces inherited from class dlife.robot.hemisson.HemissonIRSensor

HemissonIRSensor.IRSensorDisplay

Field Summary

Fields inherited from class dlife.robot.hemisson.HemissonIRSensor

FRONT, FRONT_GROUP, FRONT_LEFT, FRONT_RIGHT, GROUND_GROUP, GROUND_LEFT, GROUND_RIGHT, LEFT, LEFT_GROUP, NON_GROUND_GROUP, REAR, RIGHT, RIGHT_GROUP

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

HemissonProximitySensor()
Construct a new HemissonProximitySensor.

Method Summary

protected DeviceDisplay[]	createGUIObjects() Get the object that is the GUI for this HemissonProximitySensor.
static void	main(String[] args) A little test program for the HemissonProximitySensor.
void	readStateFromRobot() Get the current proximity sensor readings from the Hemisson.

Methods inherited from class dlife.robot.hemisson.HemissonIRSensor

freeze, read

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

Constructor Detail

HemissonProximitySensor

public HemissonProximitySensor()

Construct a new HemissonProximitySensor.

Method Detail

readStateFromRobot

public void readStateFromRobot()

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

Overrides:

readStateFromRobot in class HemissonIRSensor

Throws:

RobotCommunicationException - if unable to communicate with the Hemisson.

createGUIObjects

protected DeviceDisplay[] createGUIObjects()

Get the object that is the GUI for this HemissonProximitySensor.

Overrides:

createGUIObjects in class HemissonIRSensor

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 HemissonProximitySensor. This creates a new Hemisson and a new HemissonProximitySensor. It displays the GUI for the sensor readings and then updates the sensor readings until the window is closed.

Parameters:

args - none