dlife.robot.pioneer
Class PioneerBumpers

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.robot.ArraySensor<Boolean>
              dlife.robot.pioneer.PioneerBumpers

public class PioneerBumpers
extends ArraySensor<Boolean>

A class for reading the state of the Pioneer's bumpers. Each sensor reading corresponds to the value of a single bumper. The assignment between the readings and the particular sensors are expressed by the class constants. Each sensor reading is a boolean value indicating if the bumper is pressed (true) or not (false).

This sensor displays readings for the 10 standard bumpers on the Pioneer (see figure 1). If either the front or rear bumpers are not currently installed then the readings for the non-installed bumpers will be false.

Figure 1: Light blue circles indicate the locations and indices of the Pioneer's bumpers.

Methods are provided for reading the bumpers in a variety of ways as illustrated below. The sample code shown assumes that a PionerBumpers sensor has been created and added to the robot (typically in the startUp method of a Controller) as shown: here:

PioneerBumpers pb = new PioneerBumpers();
robot.add(pb);

The state of an individual bumper can be checked by index:

boolean front = pb.bump(2);
boolean rear = pb.bump(7);

It is also possible to check if any of the bumpers in a group or list is currently triggered:

boolean any = pb.bump();
boolean anyFront = pb.bump(PioneerBumpers.FRONT);
boolean anySide = pb.bump(0,4,5,9);

Version:

June 17, 2008

Author:

Grant Braught, Dickinson College

Field Summary

static int[]	ALL Sensor group for all of the bumpers.
static int[]	FRONT Sensor group for all of the front end bumpers.
static int[]	LEFT Sensor group for the two leftmost bumpers.
static int[]	REAR Sensor group for all of the rear end bumpers.
static int[]	RIGHT Sensor group for the two rightmost bumpers.

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

PioneerBumpers()
Construct a new PioneerBumpers.

Method Summary

boolean	bump() Determine if any of the bumpers are triggered.
boolean	bump(int... bumperList) Determine if any of the listed bumpers are triggered.
protected DeviceDisplay[]	createGUIObjects() Get the object that is the GUI for this PioneerBumpers sensor.
void	freeze() Does nothing.
static void	main(String[] args) A little test program for the PioneerBumpers.
void	readStateFromRobot() Get the current bumper readings from the Pioneer.

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

public static final int[] FRONT

Sensor group for all of the front end bumpers. Includes sensors {0, 1, 2, 3, 4}.

REAR

public static final int[] REAR

Sensor group for all of the rear end bumpers. Includes sensors {5, 6, 7, 8, 9}.

LEFT

public static final int[] LEFT

Sensor group for the two leftmost bumpers. Includes sensors {0, 9}.

RIGHT

public static final int[] RIGHT

Sensor group for the two rightmost bumpers. Includes sensors {4, 5}.

ALL

public static final int[] ALL

Sensor group for all of the bumpers.

Constructor Detail

PioneerBumpers

public PioneerBumpers()

Construct a new PioneerBumpers.

Method Detail

bump

public boolean bump(int... bumperList)

Determine if any of the listed bumpers are triggered.

Parameters:

bumperList - a comma delimited list of the indices of the bumpers to check.

Returns:

true if any of the listed bumpers are triggered.

Throws:

IllegalArgumentException - if any of the bumper indices listed are invalid.

bump

public boolean bump()

Determine if any of the bumpers are triggered.

Returns:

true if any bumper is triggered.

readStateFromRobot

public void readStateFromRobot()

Get the current bumper readings from the Pioneer. The new values are copied into the values array defined by the ArraySensor class.

Specified by:

readStateFromRobot in class Device

Throws:

RobotCommunicationException - if unable to communicate with the Pioneer.

freeze

public void freeze()

Does nothing.

Specified by:

freeze in class Device

createGUIObjects

protected DeviceDisplay[] createGUIObjects()

Get the object that is the GUI for this PioneerBumpers sensor.

Specified by:

createGUIObjects in class Device

Returns:

a reference to the GUI.

main

public static void main(String[] args)
                 throws Exception

A little test program for the PioneerBumpers. This creates a new Pioneer and a new PioneerBumpers. It displays the GUI for the bumper readings and then updates the sensor readings until the window is closed.

Parameters:

args - none

Throws:

Exception