dlife.robot.khepera3
Class Khepera3IRSensor

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.robot.ArraySensor<Integer>
              dlife.robot.khepera3.Khepera3IRSensor

Direct Known Subclasses:

Khepera3ProximitySensor

public class Khepera3IRSensor
extends ArraySensor<Integer>

A class for reading the Khepera 3's IR sensors. The IR sensors measure the amount of infrared (IR) light presents at the sensor. The sensor returns an integer where the smaller the number, the stronger the IR light is. Values are in the range of [0...4095]. The Khepera 3 has 11 IR sensors. Nine sensors are outward facing and two are downward facing. Figure 1 below shows the locations of the sensors and the index of the sensor value.

Figure 1: A Khepera 3 robot with the IR/Proximity sensors labeled.
Red circles represent outward facing IR/Proximity sensors.
Yellow circles represent downward facing IR/Proximity sensors.
Blue circles represent sonar sensors.
Numerals in the circles correspond to the index of the sensor data
in the Khepera3IRSensor, Khepera3ProximitySensor and Khepera3SonarSensor objects. 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:

Khepera3IRSensor kir = new Khepera3IRSensor();
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(Khepera3IRSensor.FRONT_GROUP);
ArrayList<Integer> sideIRs = kir.getSubset(2,3,4,5);

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

int frontLeftIR = kir.getValue(2);
int rearIR = kir.getValue(Khepera3IRSensor.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(Khepera3IRSensor.FRONT_GROUP);
int groundAve = kir.getAverage(Khepera3IRSensor.GROUND_GROUP);
int groundMin = kir.getMinimum(9,10);

Version:

August 25, 2009

Author:

Russell Toris, Grant Braught, Dickinson College

Nested Class Summary

protected static class

Khepera3IRSensor.IRDisplay Display for the Khepera3IRSensor.

Field Summary

static int	BACK_LEFT The Khepera's back left sensor.
static int	BACK_RIGHT The Khepera's back right sensor.
static int[]	FRONT_GROUP Sensor group for the Khepera 3 front sensors.
static int	FRONT_LEFT The Khepera's front-left sensor.
static int	FRONT_RIGHT The Khepera's front-right sensor.
static int[]	GROUND_GROUP Sensor group for the Khepera 3 ground sensors.
static int	GROUND_LEFT The Khepera's left ground sensor.
static int	GROUND_RIGHT The Khepera's right ground sensor.
static int	LEFT The Khepera's left sensor.
static int	LEFT_FRONT The Khepera's left-front sensor.
static int[]	LEFT_GROUP Sensor group for the Khepera 3 left sensors.
static int[]	NON_GROUND_GROUP Sensor group for all of the outward facing Khepera 3 sensors.
static int	REAR The Khepera's rear sensor.
static int[]	REAR_GROUP Sensor group for the Khepera 3 rear sensors.
static int	RIGHT The Khepera's right sensor.
static int	RIGHT_FRONT The Khepera's right-front sensor.
static int[]	RIGHT_GROUP Sensor group for the Khepera 3 right 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

Khepera3IRSensor()
Creates a new Khepera3IRSensor

Method Summary

protected DeviceDisplay[]	createGUIObjects() Get the object that is the GUI for this Khepera3IRSensor.
void	freeze() Does nothing.
protected void	read(String cmd) Send a message to the server requesting the information from the sensors.
void	readStateFromRobot() Uses the O command to get the ambient light data from each sensor.

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 Khepera 3 front sensors.

REAR_GROUP

public static final int[] REAR_GROUP

Sensor group for the Khepera 3 rear sensors.

LEFT_GROUP

public static final int[] LEFT_GROUP

Sensor group for the Khepera 3 left sensors.

RIGHT_GROUP

public static final int[] RIGHT_GROUP

Sensor group for the Khepera 3 right sensors.

GROUND_GROUP

public static final int[] GROUND_GROUP

Sensor group for the Khepera 3 ground sensors.

NON_GROUND_GROUP

public static final int[] NON_GROUND_GROUP

Sensor group for all of the outward facing Khepera 3 sensors.

BACK_LEFT

public static final int BACK_LEFT

The Khepera's back left sensor.

See Also:

Constant Field Values

LEFT

public static final int LEFT

The Khepera's left sensor.

See Also:

Constant Field Values

LEFT_FRONT

public static final int LEFT_FRONT

The Khepera's left-front sensor.

See Also:

Constant Field Values

FRONT_LEFT

public static final int FRONT_LEFT

The Khepera's front-left sensor.

See Also:

Constant Field Values

FRONT_RIGHT

public static final int FRONT_RIGHT

The Khepera's front-right sensor.

See Also:

Constant Field Values

RIGHT_FRONT

public static final int RIGHT_FRONT

The Khepera's right-front sensor.

See Also:

Constant Field Values

RIGHT

public static final int RIGHT

The Khepera's right sensor.

See Also:

Constant Field Values

BACK_RIGHT

public static final int BACK_RIGHT

The Khepera's back right sensor.

See Also:

Constant Field Values

REAR

public static final int REAR

The Khepera's rear sensor.

See Also:

Constant Field Values

GROUND_RIGHT

public static final int GROUND_RIGHT

The Khepera's right ground sensor.

See Also:

Constant Field Values

GROUND_LEFT

public static final int GROUND_LEFT

The Khepera's left ground sensor.

See Also:

Constant Field Values

Constructor Detail

Khepera3IRSensor

public Khepera3IRSensor()

Creates a new Khepera3IRSensor

Method Detail

readStateFromRobot

public void readStateFromRobot()

Uses the O command to get the ambient light data from each sensor.

Specified by:

readStateFromRobot in class Device

Throws:

RobotCommunicationException - if unable to communicate with the Khepera 3.

read

protected void read(String cmd)

Send a message to the server requesting the information from the sensors. This data is then split up and assigned to its appropriate sensor.

Parameters:

cmd - the command to send to the server

Throws:

RobotCommunicationException - if unable to communicate with the Khepera 3.

freeze

public void freeze()

Does nothing. The IR sensor does not move.

Specified by:

freeze in class Device

createGUIObjects

protected DeviceDisplay[] createGUIObjects()

Get the object that is the GUI for this Khepera3IRSensor.

Specified by:

createGUIObjects in class Device

Returns:

a reference to the GUI.