mazerob.pc

Class Robot

java.lang.Object

mazerob.pc.Robot

All Implemented Interfaces:

RemotelyControllable

public class Robot
extends Object
implements RemotelyControllable

Remotely drives an instance of Robot through a Bluetooth connection

Author:

Pedro I. López

Field Summary

Fields

Modifier and Type	Field and Description
private NXTConnector	conn Bluetooth NXT connector object
private DataInputStream	dis Data input stream object
private DataOutputStream	dos Data output stream object

Fields inherited from interface mazerob.conn.RemotelyControllable

CLOSING_CONN_MSG, SCANNING_ANGLES

Constructor Summary

Constructors

Constructor and Description
Robot(String nxtName, String nxtAddr, NXTCommLogListener logListener, double wheelDiameter, double trackWidth, boolean reverse, double rotationSpeed, double translationMagnitude, double rotationMagnitude) Connects to RobotApp through Bluetooth and sends Robot instance configuration

Method Summary

Methods

Modifier and Type	Method and Description
void	end() Invokes Robot.end()
void	rotate(double angle) Invokes Robot.rotate(double)
void	rotateLeft() Invokes Robot.rotateLeft()
void	rotateRight() Invokes Robot.rotateRight()
RangeReadings	scan() Invokes Robot.scan()
void	translate(double distance) Invokes Robot.translate(double)
void	translateBackward() Invokes Robot.translateBackward()
void	translateForward() Invokes Robot.translateForward()

Methods inherited from class java.lang.Object

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

Field Detail

conn

private NXTConnector conn

Bluetooth NXT connector object

dos

private DataOutputStream dos

Data output stream object

dis

private DataInputStream dis

Data input stream object

Constructor Detail

Robot

public Robot(String nxtName,
     String nxtAddr,
     NXTCommLogListener logListener,
     double wheelDiameter,
     double trackWidth,
     boolean reverse,
     double rotationSpeed,
     double translationMagnitude,
     double rotationMagnitude)

Connects to RobotApp through Bluetooth and sends Robot instance configuration

Parameters:

nxtName - The name of the NXT

nxtAddr - The bluetooth address of the NXT

logListener - Log listener attached to the Bluetooth connection

wheelDiameter - wheelDiameter argument to Robot.Robot(double, double, boolean, double, double, double)

trackWidth - trackWidth argument to Robot.Robot(double, double, boolean, double, double, double)

reverse - reverse argument to Robot.Robot(double, double, boolean, double, double, double)

rotationSpeed - rotationSpeed argument to Robot.Robot(double, double, boolean, double, double, double)

translationMagnitude - translationMagnitude argument to Robot.Robot(double, double, boolean, double, double, double)

rotationMagnitude - rotationMagnitude argument to Robot.Robot(double, double, boolean, double, double, double)

Method Detail

translate

public void translate(double distance)
               throws IOException

Invokes Robot.translate(double)

Specified by:

translate in interface RemotelyControllable

Parameters:

distance - The distance to move

Throws:

IOException

See Also:

RemotelyControllable.translate(double)

translateForward

public void translateForward()
                      throws IOException

Invokes Robot.translateForward()

Specified by:

translateForward in interface RemotelyControllable

Throws:

IOException

See Also:

RemotelyControllable.translateForward()

translateBackward

public void translateBackward()
                       throws IOException

Invokes Robot.translateBackward()

Specified by:

translateBackward in interface RemotelyControllable

Throws:

IOException

See Also:

RemotelyControllable.translateBackward()

rotate

public void rotate(double angle)
            throws IOException

Invokes Robot.rotate(double)

Specified by:

rotate in interface RemotelyControllable

Parameters:

angle - The wanted angle of rotation in degrees

Throws:

IOException

See Also:

RemotelyControllable.rotate(double)

rotateRight

public void rotateRight()
                 throws IOException

Invokes Robot.rotateRight()

Specified by:

rotateRight in interface RemotelyControllable

Throws:

IOException

See Also:

RemotelyControllable.rotateRight()

rotateLeft

public void rotateLeft()
                throws IOException

Invokes Robot.rotateLeft()

Specified by:

rotateLeft in interface RemotelyControllable

Throws:

IOException

See Also:

RemotelyControllable.rotateLeft()

scan

public RangeReadings scan()
                   throws IOException

Invokes Robot.scan()

Prints the range readings to stdout

Specified by:

scan in interface RemotelyControllable

Returns:

A set of RangeReadings taken the angles specified.

Throws:

IOException

See Also:

RemotelyControllable.scan()

end

public void end()
         throws IOException

Invokes Robot.end()

Closes Bluetooth connection

Specified by:

end in interface RemotelyControllable

Throws:

IOException

See Also:

RemotelyControllable.end()