dlife.robot.pioneer
Class PioneerDifferentialDrive

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.robot.DifferentialDriveEffector
              dlife.robot.pioneer.PioneerDifferentialDrive

public class PioneerDifferentialDrive
extends DifferentialDriveEffector

A class for controlling the motion of a Pioneer robot.

Version:

Jun 16, 2008

Author:

Grant Braught, Dickinson College

Field Summary

Fields inherited from class dlife.robot.DifferentialDriveEffector

vL, vR

Fields inherited from class dlife.robot.Device

DEFAULT_GUI_UPDATE_DELAY, DEFAULT_READ_DELAY, myRobot, readCount

Constructor Summary

PioneerDifferentialDrive()
Construct a new PioneerDifferentialDrive.

Method Summary

static void	main(String[] args) A little main method that lets a Pioneer be driven around using the control.
void	readStateFromRobot() Does nothing.
protected void	setRobotWheelSpeeds(double left, double right) Send a message to the Pioneer to set the speeds of its wheels according to the specified speeds.

Methods inherited from class dlife.robot.DifferentialDriveEffector

createGUIObjects, freeze, getLeftWheelSpeed, getRightWheelSpeed, getRotation, getTranslation, move, rotate, setWheelSpeeds, shutDown, translate

Methods inherited from class dlife.robot.Device

getAutoRead, getGUI, getGUIUpdateDelay, getReadDelay, getRobot, getSensorReadCount, getSensorReadRate, setAutoRead, setGUIUpdateDelay, setReadDelay, setRobot, 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

PioneerDifferentialDrive

public PioneerDifferentialDrive()

Construct a new PioneerDifferentialDrive.

Method Detail

setRobotWheelSpeeds

protected void setRobotWheelSpeeds(double left,
                                   double right)

Send a message to the Pioneer to set the speeds of its wheels according to the specified speeds. The provided speeds should be in the range [-1...1].

Note that the range of wheel speeds for the physical Pioneer is set in its firmware. The server will accept the values in the range [-1...1] and scale it to a percentage of the maximum wheel speed for the robot.

Specified by:

setRobotWheelSpeeds in class DifferentialDriveEffector

Parameters:

left - the speed of the left wheel.

right - the speed of the right wheel.

Throws:

RobotCommunicationException - if unable to communicate with the Pioneer.

readStateFromRobot

public void readStateFromRobot()

Does nothing. The state is assumed to be what was sent to the robot for a PioneerDifferentialDrive.

Specified by:

readStateFromRobot in class Device

main

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

A little main method that lets a Pioneer be driven around using the control.

Parameters:

args - none

Throws:

Exception