dlife.robot.khepera3
Class Khepera3BatterySensor

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.robot.ArraySensor<Double>
              dlife.robot.khepera3.Khepera3BatterySensor

public class Khepera3BatterySensor
extends ArraySensor<Double>

A class for reading information about the Khepera 3's battery. Methods are provided for reading the voltage, current, average current, and temperature.

Version:

August 25, 2009

Author:

Russell Toris, Grant Braught, Dickinson College

Field Summary

static int	AVERAGE_CURRENT The average current sensor number.
static int	CURRENT The current sensor number.
static int	TEMPERATURE The temperature sensor number.
static int	VOLTAGE The voltage sensor number.

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

Khepera3BatterySensor()
Creates a new Khepera3BatterySensor.

Method Summary

protected DeviceDisplay[]	createGUIObjects() Get the object that is the GUI for this Khepera3BatterySensor.
void	freeze() Does nothing.
double	getAverageCurrent() Get the average battery current (in amps) at the time of the last call to readStateFromRobot.
double	getCurrent() Get the battery current (in amps) at the time of the last call to readStateFromRobot.
double	getTemperature() Get the battery temperature (in celsius) at the time of the last call to readStateFromRobot.
double	getVoltage() Get the battery voltage (in volts) at the time of the last call to read.
void	readStateFromRobot() Get the current battery voltage from the Khepera 3.

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

VOLTAGE

public static final int VOLTAGE

The voltage sensor number.

See Also:

Constant Field Values

CURRENT

public static final int CURRENT

The current sensor number.

See Also:

Constant Field Values

AVERAGE_CURRENT

public static final int AVERAGE_CURRENT

The average current sensor number.

See Also:

Constant Field Values

TEMPERATURE

public static final int TEMPERATURE

The temperature sensor number.

See Also:

Constant Field Values

Constructor Detail

Khepera3BatterySensor

public Khepera3BatterySensor()

Creates a new Khepera3BatterySensor. The battery sensor is updated from the robot every 5 seconds.

Method Detail

getVoltage

public double getVoltage()

Get the battery voltage (in volts) at the time of the last call to read.

Returns:

the battery voltage.

getCurrent

public double getCurrent()

Get the battery current (in amps) at the time of the last call to readStateFromRobot.

Returns:

the battery current

getAverageCurrent

public double getAverageCurrent()

Get the average battery current (in amps) at the time of the last call to readStateFromRobot.

Returns:

the average battery current

getTemperature

public double getTemperature()

Get the battery temperature (in celsius) at the time of the last call to readStateFromRobot.

Returns:

the battery temperature

freeze

public void freeze()

Does nothing. The battery device doesn't move so no need to freeze it.

Specified by:

freeze in class Device

readStateFromRobot

public void readStateFromRobot()

Get the current battery voltage from the Khepera 3. The new values is copied into the values array defined by the ArraySensor class.

Specified by:

readStateFromRobot in class Device

Throws:

RobotCommunicationException - if unable to communicate with the Khepera 3.

createGUIObjects

protected DeviceDisplay[] createGUIObjects()

Get the object that is the GUI for this Khepera3BatterySensor.

Specified by:

createGUIObjects in class Device

Returns:

a reference to the GUI.