lejos.robotics
Class ExtendedPlatform

java.lang.Object
  lejos.robotics.SimplePlatform
      lejos.robotics.ExtendedPlatform

All Implemented Interfaces:

ElevationPlatform, RotationPlatform

public class ExtendedPlatform
extends SimplePlatform
implements ElevationPlatform

Constructor Summary

ExtendedPlatform(TachoMotor directionMotor, boolean invertDir, double ratioDir, TachoMotor elevationMotor, boolean invertElev, double ratioElev)

ExtendedPlatform(TachoMotor directionMotor, boolean invertDir, TachoMotor elevationMotor, boolean invertElev)

ExtendedPlatform(TachoMotor directionMotor, TachoMotor elevationMotor)

Method Summary

int	getElevation() Returns the current sensor elevation angle.
int	getElevationSpeed() Gets the speed the platform rotates, in degrees per second.
int	getMaximumElevation() Maximum angle the elevation can be raised.
int	getMinimumElevation() Minimum angle the elevation can be lowered to.
void	scanDown()
void	scanUp()
void	setElevation(int angle) Raises or lowers the sensor elevation.
void	setElevationSpeed(int speed) Sets the speed the platform should rotate, in degrees per second.
void	setMaximumElevation(int maxAngle) Sets the maximum angle the elevation can be raised.
void	setMinimumElevation(int minAngle) Sets the minimum angle the elevation can be raised.
void	stopElevation() Stops a scan in motion from scanUp() or scanDown().

Methods inherited from class lejos.robotics.SimplePlatform

getAbsoluteDirection, getDirection, getMaximumDirection, getMinimumDirection, getRotationSpeed, getXOffset, getYOffset, getZOffset, scanLeft, scanRight, setDirection, setMaximumDirection, setMinimumDirection, setRotationSpeed, setXOffset, setYOffset, setZOffset, stopRotation, zero

Methods inherited from class java.lang.Object

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

Constructor Detail

ExtendedPlatform

public ExtendedPlatform(TachoMotor directionMotor,
                        TachoMotor elevationMotor)

ExtendedPlatform

public ExtendedPlatform(TachoMotor directionMotor,
                        boolean invertDir,
                        TachoMotor elevationMotor,
                        boolean invertElev)

ExtendedPlatform

public ExtendedPlatform(TachoMotor directionMotor,
                        boolean invertDir,
                        double ratioDir,
                        TachoMotor elevationMotor,
                        boolean invertElev,
                        double ratioElev)

Method Detail

getElevation

public int getElevation()

Description copied from interface: ElevationPlatform

Returns the current sensor elevation angle.

Specified by:

getElevation in interface ElevationPlatform

Returns:

getMaximumElevation

public int getMaximumElevation()

Description copied from interface: ElevationPlatform

Maximum angle the elevation can be raised. Should be no larger than 90 degrees.

Specified by:

getMaximumElevation in interface ElevationPlatform

Returns:

getMinimumElevation

public int getMinimumElevation()

Description copied from interface: ElevationPlatform

Minimum angle the elevation can be lowered to. Should be no less than -90 degrees.

Specified by:

getMinimumElevation in interface ElevationPlatform

Returns:

getElevationSpeed

public int getElevationSpeed()

Description copied from interface: ElevationPlatform

Gets the speed the platform rotates, in degrees per second. The default speed is XX degrees/second.

Specified by:

getElevationSpeed in interface ElevationPlatform

Returns:

scanUp

public void scanUp()

Specified by:

scanUp in interface ElevationPlatform

scanDown

public void scanDown()

Specified by:

scanDown in interface ElevationPlatform

setElevation

public void setElevation(int angle)

Description copied from interface: ElevationPlatform

Raises or lowers the sensor elevation.

Specified by:

setElevation in interface ElevationPlatform

Parameters:

angle - getMaximumElevation() to getMinimumElevation() +90 to -90, or if platform is incapable of this movement

setMaximumElevation

public void setMaximumElevation(int maxAngle)

Description copied from interface: ElevationPlatform

Sets the maximum angle the elevation can be raised.

Specified by:

setMaximumElevation in interface ElevationPlatform

Parameters:

maxAngle - Should be no greater than +90 degrees.

setMinimumElevation

public void setMinimumElevation(int minAngle)

Description copied from interface: ElevationPlatform

Sets the minimum angle the elevation can be raised.

Specified by:

setMinimumElevation in interface ElevationPlatform

Parameters:

minAngle - Should be no less than -90 degrees.

setElevationSpeed

public void setElevationSpeed(int speed)

Description copied from interface: ElevationPlatform

Sets the speed the platform should rotate, in degrees per second. The default speed is XX degrees/second.

Specified by:

setElevationSpeed in interface ElevationPlatform

stopElevation

public void stopElevation()

Description copied from interface: ElevationPlatform

Stops a scan in motion from scanUp() or scanDown().

Specified by:

stopElevation in interface ElevationPlatform