dlife.robot.khepera2
Class Khepera2ProximitySensor

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.robot.ArraySensor<Integer>
              dlife.robot.khepera2.Khepera2IRSensor
                  dlife.robot.khepera2.Khepera2ProximitySensor

public class Khepera2ProximitySensor
extends Khepera2IRSensor

A class for reading the Khepera2's proximity sensors. Each sensor reading is an integer value in the range [0...1023] 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 Khepera2 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 Khepera2 robot withthe IR/Proximity sensors labeled.
Numerals in the circles correspond to the index of the sensor data
in the Khepera2IRSensor and Khepera2ProximitySensor objects.

See the Khepera2IRSensor documentation for examples of how to access the sensor values.

Version:

Jan 19, 2011

Author:

Grant Braught, Dickinson College

Nested Class Summary

Nested classes/interfaces inherited from class dlife.robot.khepera2.Khepera2IRSensor

Khepera2IRSensor.IRSensorDisplay

Field Summary

Fields inherited from class dlife.robot.khepera2.Khepera2IRSensor

ALL, FRONT_GROUP, FRONT_LEFT, FRONT_RIGHT, LEFT, LEFT_FRONT, LEFT_GROUP, LEFT_REAR, REAR_GROUP, RIGHT, RIGHT_FRONT, RIGHT_GROUP, RIGHT_REAR

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

Khepera2ProximitySensor()
Construct a new Khepera2ProximitySensor.

Method Summary

protected DeviceDisplay[]	createGUIObjects() Get the object that is the GUI for this Khepera2ProximitySensor.
static void	main(String[] args) A little test program for the HemissonProximitySensor.
void	readStateFromRobot() Get the current proximity sensor readings from the Khepera2.

Methods inherited from class dlife.robot.khepera2.Khepera2IRSensor

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

Khepera2ProximitySensor

public Khepera2ProximitySensor()

Construct a new Khepera2ProximitySensor.

Method Detail

readStateFromRobot

public void readStateFromRobot()

Get the current proximity sensor readings from the Khepera2. The new values are copied into the values array defined by the IntegerArraySensor class.

Overrides:

readStateFromRobot in class Khepera2IRSensor

Throws:

RobotCommunicationException - if unable to communicate with the Khepera2.

createGUIObjects

protected DeviceDisplay[] createGUIObjects()

Get the object that is the GUI for this Khepera2ProximitySensor.

Overrides:

createGUIObjects in class Khepera2IRSensor

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