mazerob.nxt

Class Robot

java.lang.Object

mazerob.nxt.Robot

All Implemented Interfaces:

RemotelyControllable

 class Robot
extends Object
implements RemotelyControllable

NXT Explorer abstraction

Author:

Pedro I. López

See Also:

NXT Explorer

Field Summary

Fields

Modifier and Type	Field and Description
(package private) DifferentialPilot	pilot Instance of the Pilot mechanism to control the Explorer movements
(package private) double	rotationMagnitude Magnitude of rotation in degrees of methods rotateRight() and rotateLeft() specified by the rotationMagnitude argument in Robot(double, double, boolean, double, double, double)
(package private) RotatingRangeScanner	scanner Abstraction of the Explorer's ultrasonic sensor
(package private) double	translationMagnitude Magnitude of translation in mm of methods translateForward() and translateBackward() specified by the translationMagnitude argument in Robot(double, double, boolean, double, double, double)

Fields inherited from interface mazerob.conn.RemotelyControllable

CLOSING_CONN_MSG, SCANNING_ANGLES

Constructor Summary

Constructors

Constructor and Description
Robot(double wheelDiameter, double trackWidth, boolean reverse, double rotationSpeed, double translationMagnitude, double rotationMagnitude)

Method Summary

Methods

Modifier and Type	Method and Description
void	end() End the connection and exit the RobotApp program
void	rotate(double angle) Wait until rotation is done
void	rotateLeft() Rotate to the left rotationMagnitude mm, wait until rotation is done
void	rotateRight() Rotate to the right rotationMagnitude mm, wait until rotation is done
RangeReadings	scan() Scan the environment for object detection
void	translate(double distance) Wait until translation is done
void	translateBackward() Translate backward translationMagnitude mm, wait until translation is done
void	translateForward() Translate forward translationMagnitude mm, wait until translation is done

Methods inherited from class java.lang.Object

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

Field Detail

scanner

RotatingRangeScanner scanner

Abstraction of the Explorer's ultrasonic sensor

pilot

DifferentialPilot pilot

Instance of the Pilot mechanism to control the Explorer movements

translationMagnitude

double translationMagnitude

Magnitude of translation in mm of methods translateForward() and translateBackward() specified by the translationMagnitude argument in Robot(double, double, boolean, double, double, double)

rotationMagnitude

double rotationMagnitude

Magnitude of rotation in degrees of methods rotateRight() and rotateLeft() specified by the rotationMagnitude argument in Robot(double, double, boolean, double, double, double)

Constructor Detail

Robot

public Robot(double wheelDiameter,
     double trackWidth,
     boolean reverse,
     double rotationSpeed,
     double translationMagnitude,
     double rotationMagnitude)

Parameters:

wheelDiameter - Diameter of the tires in mm

trackWidth - Distance between center of right tire and center of left tire in mm

reverse - If true, the NXT robot moves forward when the motors are running backward

rotationSpeed - Rotation speed of the vehicle, in degrees per second

translationMagnitude - Magnitude of translation in mm of methods translateForward() and translateBackward()

rotationMagnitude - Magnitude of rotation in degrees of methods rotateRight() and rotateLeft()

Method Detail

translate

public void translate(double distance)

Wait until translation is done

Specified by:

translate in interface RemotelyControllable

Parameters:

distance - The distance to move

See Also:

RemotelyControllable.translate(double)

translateForward

public void translateForward()

Translate forward translationMagnitude mm, wait until translation is done

Specified by:

translateForward in interface RemotelyControllable

See Also:

RemotelyControllable.translateForward()

translateBackward

public void translateBackward()

Translate backward translationMagnitude mm, wait until translation is done

Specified by:

translateBackward in interface RemotelyControllable

See Also:

RemotelyControllable.translateBackward()

rotate

public void rotate(double angle)

Wait until rotation is done

Specified by:

rotate in interface RemotelyControllable

Parameters:

angle - The wanted angle of rotation in degrees

See Also:

RemotelyControllable.rotate(double)

rotateRight

public void rotateRight()

Rotate to the right rotationMagnitude mm, wait until rotation is done

Specified by:

rotateRight in interface RemotelyControllable

See Also:

RemotelyControllable.rotateRight()

rotateLeft

public void rotateLeft()

Rotate to the left rotationMagnitude mm, wait until rotation is done

Specified by:

rotateLeft in interface RemotelyControllable

See Also:

RemotelyControllable.rotateLeft()

end

public void end()
         throws RuntimeException

End the connection and exit the RobotApp program

Specified by:

end in interface RemotelyControllable

Throws:

RuntimeException

See Also:

RemotelyControllable.end()

scan

public RangeReadings scan()

Description copied from interface: RemotelyControllable

Scan the environment for object detection

Scanning angles specified by RemotelyControllable.SCANNING_ANGLES.

Specified by:

scan in interface RemotelyControllable

Returns:

A set of RangeReadings taken the angles specified.

See Also:

RemotelyControllable.scan()