dlife.robot.khepera2
Class Khepera2IRSensor

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.robot.ArraySensor<Integer>
              dlife.robot.khepera2.Khepera2IRSensor

Direct Known Subclasses:

Khepera2ProximitySensor

public class Khepera2IRSensor
extends ArraySensor<Integer>

A class for reading the Khepera2's infrared (IR) sensors. Each IR sensor reports an integer value in the range [0...1023] 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 khepera2 robot with the IR/Proximity sensors labeled.
Numerals in the circles correspond to the index of the sensor data
in the Khepera2IRSensor and Khepera2ProximitySensor 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:

Khepera2IRSensor kir = new Khepera2IRSensor();
robot.add(kir);

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

ArrayList<Integer> allVals = kir.getValues();
ArrayList<Integer> frontIR = kir.getSubset(Khepera2IRSensor.FRONT_GROUP);
ArrayList<Integer> rearIRs = kir.getSubset(6,7);

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

int LeftIR = kir.getValue(0);
int rearRightIR = hir.getValue(Khepera2IRSensor.RIGHT_REAR);

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

int maxIR = kir.getMaximum();
int maxFrontIR = kir.getMaximum(HemissonIRSensor.FRONT_GROUP);
int groundAve = kir.getAverage(HemissionIRSensor.REAR_GROUP);
int sideMin = kir.getMinimum(0,5);

Version:

Jan 19, 2011

Author:

Grant Braught, Dickinson College

Nested Class Summary

protected static class

Khepera2IRSensor.IRSensorDisplay A display for the values of a Khepera2IRSensor.

Field Summary

static int[]	ALL Sensor group containing all of the sensors.
static int[]	FRONT_GROUP Sensor group for the Khepera2's front sensors.
static int	FRONT_LEFT The Khepera2's front left sensor.
static int	FRONT_RIGHT The Khepera2's front right sensor.
static int	LEFT The Khepera2's left sensor.
static int	LEFT_FRONT The Khepera2's left front sensor.
static int[]	LEFT_GROUP Sensor group for the Khepera2's left side sensors.
static int	LEFT_REAR The Khepera2's left rear sensor.
static int[]	REAR_GROUP Sensor group for the Khepera2's rear facing sensors.
static int	RIGHT The Khepera2's right sensor.
static int	RIGHT_FRONT The Khepera2's right front sensor.
static int[]	RIGHT_GROUP Sensor group for the Khepera2's right side sensors.
static int	RIGHT_REAR The Khepera2's right rear sensor.

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

Khepera2IRSensor()
Construct a new Khepera2IRSensor.

Method Summary

protected DeviceDisplay[]	createGUIObjects() Get the object that is the GUI for this Khepera2IRSensor.
void	freeze() Does nothing.
static void	main(String[] args) A little test program for the Khepera2IRSensor.
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 Khepara2.

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 Khepera2's front sensors. This group includes sensors 2 and 3 in that order.

RIGHT_GROUP

public static final int[] RIGHT_GROUP

Sensor group for the Khepera2's right side sensors. This group includes sensors 4 and 5 in that order.

LEFT_GROUP

public static final int[] LEFT_GROUP

Sensor group for the Khepera2's left side sensors. This group includes sensors 0 and 1 in that order.

REAR_GROUP

public static final int[] REAR_GROUP

Sensor group for the Khepera2's rear facing sensors. This group includes sensors 6 and 7 in that order.

ALL

public static final int[] ALL

Sensor group containing all of the sensors.

FRONT_LEFT

public static final int FRONT_LEFT

The Khepera2's front left sensor.

See Also:

Constant Field Values

FRONT_RIGHT

public static final int FRONT_RIGHT

The Khepera2's front right sensor.

See Also:

Constant Field Values

LEFT_FRONT

public static final int LEFT_FRONT

The Khepera2's left front sensor.

See Also:

Constant Field Values

RIGHT_FRONT

public static final int RIGHT_FRONT

The Khepera2's right front sensor.

See Also:

Constant Field Values

LEFT

public static final int LEFT

The Khepera2's left sensor.

See Also:

Constant Field Values

RIGHT

public static final int RIGHT

The Khepera2's right sensor.

See Also:

Constant Field Values

RIGHT_REAR

public static final int RIGHT_REAR

The Khepera2's right rear sensor.

See Also:

Constant Field Values

LEFT_REAR

public static final int LEFT_REAR

The Khepera2's left rear sensor.

See Also:

Constant Field Values

Constructor Detail

Khepera2IRSensor

public Khepera2IRSensor()

Construct a new Khepera2IRSensor.

Method Detail

readStateFromRobot

public void readStateFromRobot()

Get the current IR light sensor readings from the Khepara2. 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 Khepara2.

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 Khepara2.

createGUIObjects

protected DeviceDisplay[] createGUIObjects()

Get the object that is the GUI for this Khepera2IRSensor.

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 Khepera2IRSensor. This creates a new Khepera2 and a new Khepera2IRSensor. It displays the GUI for the ir sensor readings until the window is closed.

Parameters:

args - none