examples.dlife.robot.khepera2
Class Khepera2Braitenberg

java.lang.Object
  dlife.robot.Controller
      examples.dlife.robot.khepera2.Khepera2Braitenberg

public class Khepera2Braitenberg
extends Controller

A Braitenberg controller for the Khepera2. This Controller causes the Khepera to wander around (pretty much) without hitting obstacles using a Braitenberg controller.

To run this example:

1. Complete the Basic dLife Installation.
2. Complete the Khepera2 Setup.
   
   
3. Launch the dlife.robot.gui.controlcenter
4. Select dlife.robot.khepera2.Khepera2 in the "Robot:" drop down list.
5. Click the button next to the "Controller:" label.
6. Navigate to the dLifeDist/examples/dlife/robot/khepera2/ directory.
7. Choose the Khepera2Braitenberg.class file.
8. Click the "Start Up" button.
9. Choose the connection mechanism to be used:
   • Serial Port: Use the file chooser to select the device file to which the Khepera2 is connected.
   • Bluetooth: Select the desired Khepera2 from the drop down list. Initially you will need to know the Bluetooth address of the Khepera2 in order to identify the one to which you want to connect. You may optionally associate a name with the robot's bluetooth address using the text field and the "Set" button, making it easier to identify in the future.
10. Click "Connect"
11. The Khepera2 will flash its LEDs to indicate that a connection has been established.
12. Click "Run"
13. The Khepera2 will begin to move about avoiding obstacles.
14. Click "Stop" then "Shutdown" when finished.

The source code for this class is contained in the file:

examples/dlife/robot/khepera2/Khepera2Braitenberg.java

Version:

Jan 19, 2011

Author:

Grant Braught, Dickinson College

Constructor Summary

Khepera2Braitenberg()

Method Summary

void	startUp(Robot robot) Create a differential drive and a proximity sensor and add them to the robot.
void	step() Implement a Braitenberg obstacle avoidance controller.

Methods inherited from class dlife.robot.Controller

shutDown

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Khepera2Braitenberg

public Khepera2Braitenberg()

Method Detail

startUp

public void startUp(Robot robot)

Create a differential drive and a proximity sensor and add them to the robot.

Specified by:

startUp in class Controller

Parameters:

robot - the Robot that this Controller will be controlling.

step

public void step()

Implement a Braitenberg obstacle avoidance controller.

Specified by:

step in class Controller