lejos.robotics.navigation
Class CompassPilot

java.lang.Object
  lejos.robotics.navigation.TachoPilot
      lejos.robotics.navigation.CompassPilot

All Implemented Interfaces:

Pilot

public class CompassPilot
extends TachoPilot

A Pilot that keeps track of direction using a CompassSensor.

Field Summary

int	_angle0
protected DirectionFinder	compass

Fields inherited from class lejos.robotics.navigation.TachoPilot

_left, _leftDegPerDistance, _leftTurnRatio, _leftWheelDiameter, _motorSpeed, _right, _rightDegPerDistance, _rightTurnRatio, _rightWheelDiameter, _robotMoveSpeed, _robotTurnSpeed, _trackWidth

Constructor Summary

CompassPilot(DirectionFinder compass, float wheelDiameter, float trackWidth, TachoMotor leftMotor, TachoMotor rightMotor)
Allocates a CompasPilot object, and sets the physical parameters of the NXT robot.

CompassPilot(DirectionFinder compass, float wheelDiameter, float trackWidth, TachoMotor leftMotor, TachoMotor rightMotor, boolean reverse)
Allocates a CompasPilot object, and sets the physical parameters of the NXT robot.

Method Summary

void	calibrate() Rotates the robot 360 degrees while calibrating the compass resets compass zero to heading at end of calibration
float	getAngle() Returns the compass angle in degrees, Cartesian (increasing counter clockwise) i.e.
DirectionFinder	getCompass() Return the compass
int	getCompassHeading() Method returns the current compass heading
int	getHeading() Returns direction of desired robot facing
boolean	isMoving() returns TRUE if robot is moving
boolean	isRotating() returns true if robot is rotating to a specific direction
boolean	isTraveling() returns returns true if the robot is travelling for a specific distance;
void	reset() Resets tacho count for both motors.
void	resetCartesianZero()
void	rotate(float angle) Rotates the NXT robot through a specific angle; Rotates left if angle is positive, right if negative, Returns when angle is reached.
void	rotate(float angle, boolean immediateReturn) robot rotates to the specified compass heading;
void	rotateTo(float angle) Robot rotates to the specified compass heading.
void	rotateTo(float angle, boolean immediateReturn) robot rotates to the specified compass heading;
void	setHeading(int angle) sets direction of desired robot facing in degrees
void	stop() Stops the robot soon after the method is executed.
void	travel(float distance) Moves the NXT robot a specific distance; A positive distance causes forward motion; negative distance moves backward.
void	travel(float distance, boolean immediateReturn) Moves the NXT robot a specific distance.

Methods inherited from class lejos.robotics.navigation.TachoPilot

arc, arc, arc, backward, forward, getLeft, getLeftActualSpeed, getLeftCount, getMoveMaxSpeed, getMoveSpeed, getRight, getRightActualSpeed, getRightCount, getTravelDistance, getTurnMaxSpeed, getTurnRatio, getTurnSpeed, regulateSpeed, setMoveSpeed, setSpeed, setTurnSpeed, stalled, steer, steer, steer, travelArc, travelArc

Methods inherited from class java.lang.Object

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

Field Detail

compass

protected DirectionFinder compass

_angle0

public int _angle0

Constructor Detail

CompassPilot

public CompassPilot(DirectionFinder compass,
                    float wheelDiameter,
                    float trackWidth,
                    TachoMotor leftMotor,
                    TachoMotor rightMotor)

Allocates a CompasPilot object, and sets the physical parameters of the NXT robot.
Assumes Motor.forward() causes the robot to move forward); Parameters

Parameters:

compass - : a compass sensor;

wheelDiameter - Diameter of the tire, in any convenient units. (The diameter in mm is usually printed on the tire).

trackWidth - Distance between center of right tire and center of left tire, in same units as wheelDiameter

leftMotor -

rightMotor -

CompassPilot

public CompassPilot(DirectionFinder compass,
                    float wheelDiameter,
                    float trackWidth,
                    TachoMotor leftMotor,
                    TachoMotor rightMotor,
                    boolean reverse)

Allocates a CompasPilot object, and sets the physical parameters of the NXT robot.
Assumes Motor.forward() causes the robot to move forward); Parameters

Parameters:

compass - : a compass sensor;

wheelDiameter - Diameter of the tire, in any convenient units. (The diameter in mm is usually printed on the tire).

trackWidth - Distance between center of right tire and center of left tire, in same units as wheelDiameter

leftMotor -

rightMotor -

reverse - if true of motor.forward() drives the robot backwards

Method Detail

isRotating

public boolean isRotating()

returns true if robot is rotating to a specific direction

Returns:

true iff robot is rotating to a specific direction

isTraveling

public boolean isTraveling()

returns returns true if the robot is travelling for a specific distance;

getCompass

public DirectionFinder getCompass()

Return the compass

Returns:

the compass

getAngle

public float getAngle()

Returns the compass angle in degrees, Cartesian (increasing counter clockwise) i.e. the actual robot heading

Specified by:

getAngle in interface Pilot

Overrides:

getAngle in class TachoPilot

Returns:

the angle of rotation of the robot since last call to reset of tacho count;

getHeading

public int getHeading()

Returns direction of desired robot facing

getCompassHeading

public int getCompassHeading()

Method returns the current compass heading

Returns:

Compass heading in degrees.

setHeading

public void setHeading(int angle)

sets direction of desired robot facing in degrees

calibrate

public void calibrate()

Rotates the robot 360 degrees while calibrating the compass resets compass zero to heading at end of calibration

resetCartesianZero

public void resetCartesianZero()

travel

public void travel(float distance,
                   boolean immediateReturn)

Moves the NXT robot a specific distance. A positive value moves it forwards and a negative value moves it backwards. The robot steers to maintain its compass heading.

Specified by:

travel in interface Pilot

Overrides:

travel in class TachoPilot

Parameters:

distance - The positive or negative distance to move the robot, same units as _wheelDiameter

immediateReturn - iff true, the method returns immediately.

travel

public void travel(float distance)

Moves the NXT robot a specific distance;
A positive distance causes forward motion; negative distance moves backward. Robot steers to maintain its compass heading;

Specified by:

travel in interface Pilot

Overrides:

travel in class TachoPilot

Parameters:

distance - of robot movement. Unit of measure for distance must be same as wheelDiameter and trackWidth

rotateTo

public void rotateTo(float angle,
                     boolean immediateReturn)

robot rotates to the specified compass heading;

Parameters:

angle - Desired compass heading

immediateReturn - if TRUE, method returns immediately; Unfortunately, if you issue the stop(() command, the motion will run to completion.robot stops facing in specified direction

rotateTo

public void rotateTo(float angle)

Robot rotates to the specified compass heading.

Parameters:

angle - Desired compass heading

rotate

public void rotate(float angle,
                   boolean immediateReturn)

robot rotates to the specified compass heading;

Specified by:

rotate in interface Pilot

Overrides:

rotate in class TachoPilot

Parameters:

immediateReturn - - if true, method returns immediately. Unfortunately, if you issue the stop(() command, the motion will run to completion.
Robot stops when specified angle is reached

angle - The wanted angle of rotation in degrees. Positive angle rotate left (clockwise), negative right.

rotate

public void rotate(float angle)

Rotates the NXT robot through a specific angle; Rotates left if angle is positive, right if negative, Returns when angle is reached. Wheels turn in opposite directions producing a zero radius turn.

Specified by:

rotate in interface Pilot

Overrides:

rotate in class TachoPilot

Parameters:

angle - degrees. Positive angle rotates to the left (clockwise); negative to the right.
Requires correct values for wheel diameter and track width.

reset

public void reset()

Description copied from class: TachoPilot

Resets tacho count for both motors.

Specified by:

reset in interface Pilot

Overrides:

reset in class TachoPilot

isMoving

public boolean isMoving()

returns TRUE if robot is moving

Specified by:

isMoving in interface Pilot

Overrides:

isMoving in class TachoPilot

Returns:

true if the NXT robot is moving.

stop

public void stop()

Stops the robot soon after the method is executed. (It takes time for the motors to slow to a halt)

Specified by:

stop in interface Pilot

Overrides:

stop in class TachoPilot