RemoteRequestPilot (leJOS EV3 API documentation)

java.lang.Object
- lejos.remote.ev3.RemoteRequestPilot

All Implemented Interfaces:

ArcMoveController, ArcRotateMoveController, MoveController, MoveProvider, RotateMoveController
```
public class RemoteRequestPilot
extends java.lang.Object
implements ArcRotateMoveController
```

Field Summary
- Fields inherited from interface lejos.robotics.navigation.MoveController
  WHEEL_SIZE_EV3, WHEEL_SIZE_NXT1, WHEEL_SIZE_NXT2, WHEEL_SIZE_RCX

Constructor Summary

Constructors
Constructor and Description
`RemoteRequestPilot(java.io.ObjectInputStream is, java.io.ObjectOutputStream os, java.lang.String leftMotor, java.lang.String rightMotor, double wheelDiameter, double trackWidth)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addMoveListener(MoveListener listener)` Adds a MoveListener that will be notified of all movement events.
`void`	`arc(double radius, double angle)` Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving.
`void`	`arc(double radius, double angle, boolean immediateReturn)` Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving.
`void`	`arcBackward(double radius)` Starts the NXT robot moving backward along an arc with a specified radius.
`void`	`arcForward(double radius)` Starts the NXT robot moving forward along an arc with a specified radius.
`void`	`backward()` Starts the NXT robot moving backwards.
`void`	`close()`
`void`	`forward()` Starts the NXT robot moving forward.
`double`	`getAngularAcceleration()` Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
`double`	`getAngularSpeed()` Returns the value of the rotation speed
`double`	`getLinearAcceleration()` Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
`double`	`getLinearSpeed()` Returns the speed at which the robot will travel forward and backward (and to some extent arcs, although actual arc speed is slightly less).
`double`	`getMaxAngularSpeed()` returns the maximum value of the rotation speed;
`double`	`getMaxLinearSpeed()` Returns the maximum speed at which this robot is capable of traveling forward and backward.
`double`	`getMinRadius()` The minimum steering radius this vehicle is capable of when traveling in an arc.
`Move`	`getMovement()` Returns the move made since the move started, but before it has completed.
`boolean`	`isMoving()` true if the robot is moving
`void`	`rotate(double angle)` Rotates the NXT robot the specified number of degrees; direction determined by the sign of the parameter.
`void`	`rotate(double angle, boolean immediateReturn)` Rotates the NXT robot the specified number of degrees; direction determined by the sign of the parameter.
`void`	`rotateLeft()`
`void`	`rotateRight()`
`void`	`setAngularAcceleration(double acceleration)` Sets the acceleration at which the robot will accelerate at the start of a move and decelerate at the end of a move.
`void`	`setAngularSpeed(double speed)` sets the rotation speed of the robot (the angular velocity of the rotate() methods)
`void`	`setLinearAcceleration(double acceleration)` Sets the acceleration at which the robot will accelerate at the start of a move and decelerate at the end of a move.
`void`	`setLinearSpeed(double speed)` Sets the speed at which the robot will travel forward and backward (and to some extent arcs, although actual arc speed is slightly less).
`void`	`setMinRadius(double radius)` Set the radius of the minimum turning circle.
`void`	`steer(double turnRate)`
`void`	`stop()` Halts the NXT robot
`void`	`travel(double distance)` Moves the NXT robot a specific distance.
`void`	`travel(double distance, boolean immediateReturn)` Moves the NXT robot a specific distance.
`void`	`travelArc(double radius, double distance)` Moves the NXT robot a specified distance along an arc of specified radius, after which the robot stops moving.
`void`	`travelArc(double radius, double distance, boolean immediateReturn)` Moves the NXT robot a specified distance along an arc of specified radius, after which the robot stops moving.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - RemoteRequestPilot
```
public RemoteRequestPilot(java.io.ObjectInputStream is,
                          java.io.ObjectOutputStream os,
                          java.lang.String leftMotor,
                          java.lang.String rightMotor,
                          double wheelDiameter,
                          double trackWidth)
```
- Method Detail
  - getMinRadius
```
public double getMinRadius()
```
    Description copied from interface: ArcMoveController
    
    The minimum steering radius this vehicle is capable of when traveling in an arc. Theoretically this should be identical for both forward and reverse travel. In practice?
    
    Specified by:
    
    getMinRadius in interface ArcMoveController
    
    Returns:
    
    the radius in degrees
  - setMinRadius
```
public void setMinRadius(double radius)
```
    Description copied from interface: ArcMoveController
    
    Set the radius of the minimum turning circle.
    
    Specified by:
    
    setMinRadius in interface ArcMoveController
    
    Parameters:
    
    radius - the radius in degrees
  - arcForward
```
public void arcForward(double radius)
```
    Description copied from interface: ArcMoveController
    
    Starts the NXT robot moving forward along an arc with a specified radius.
    If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
    If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
    If radius is zero, the robot rotates in place.
    Postcondition: Motor speeds are unpredictable.
    Note: If you have specified a drift correction in the constructor it will not be applied in this method.
    
    Specified by:
    
    arcForward in interface ArcMoveController
    
    Parameters:
    
    radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
  - arcBackward
```
public void arcBackward(double radius)
```
    Description copied from interface: ArcMoveController
    
    Starts the NXT robot moving backward along an arc with a specified radius.
    If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
    If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
    If radius is zero, the robot rotates in place.
    Postcondition: Motor speeds are unpredictable.
    Note: If you have specified a drift correction in the constructor it will not be applied in this method.
    
    Specified by:
    
    arcBackward in interface ArcMoveController
    
    Parameters:
    
    radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
  - arc
```
public void arc(double radius,
                double angle,
                boolean immediateReturn)
```
    Description copied from interface: ArcMoveController
    
    Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving. This method has the ability to return immediately by using the immediateReturn parameter.
    If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
    If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
    If radius is zero, is zero, the robot rotates in place.
    The robot will stop when the degrees it has moved along the arc equals angle.
    If angle is positive, the robot will turn to the left (anti-clockwise).
    If angle is negative, the robot will turn to the right (clockwise). If angle is zero, the robot will not move and the method returns immediately.
    Postcondition: Motor speeds are unpredictable.
    Note: If you have specified a drift correction in the constructor it will not be applied in this method.
    
    Specified by:
    
    arc in interface ArcMoveController
    
    Parameters:
    
    radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
    
    angle - The sign of the angle determines the direction of the robot turns: Positive is anti-clockwise, negative is clockwise.
    
    immediateReturn - If immediateReturn is true then the method returns immediately.
    
    See Also:
    
    ArcMoveController.travelArc(double, double, boolean)
  - travelArc
```
public void travelArc(double radius,
                      double distance,
                      boolean immediateReturn)
```
    Description copied from interface: ArcMoveController
    
    Moves the NXT robot a specified distance along an arc of specified radius, after which the robot stops moving. This method has the ability to return immediately by using the immediateReturn parameter. The units (inches, cm) for distance should be the same as the units used for radius.
    If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
    If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
    If radius is zero, the robot rotates in place.
    The robot will stop when it has moved along the arc distance units.
    If distance is positive, the robot will move travel forwards.
    If distance is negative, the robot will move travel backwards.
    If distance is zero, the robot will not move and the method returns immediately.
    Postcondition: Motor speeds are unpredictable.
    
    Specified by:
    
    travelArc in interface ArcMoveController
    
    Parameters:
    
    radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
    
    distance - to travel, in same units as radius. The sign of the distance determines the direction of robot motion. Positive drives the robot forward, negative drives it backward.
    
    immediateReturn - If immediateReturn is true then the method returns immediately.
    
    See Also:
    
    ArcMoveController.arc(double, double, boolean)
  - forward
```
public void forward()
```
    Description copied from interface: MoveController
    
    Starts the NXT robot moving forward.
    
    Specified by:
    
    forward in interface MoveController
  - backward
```
public void backward()
```
    Description copied from interface: MoveController
    
    Starts the NXT robot moving backwards.
    
    Specified by:
    
    backward in interface MoveController
  - stop
```
public void stop()
```
    Description copied from interface: MoveController
    
    Halts the NXT robot
    
    Specified by:
    
    stop in interface MoveController
  - isMoving
```
public boolean isMoving()
```
    Description copied from interface: MoveController
    
    true if the robot is moving
    
    Specified by:
    
    isMoving in interface MoveController
    
    Returns:
    
    true if the robot is moving under power.
  - travel
```
public void travel(double distance,
                   boolean immediateReturn)
```
    Description copied from interface: MoveController
    
    Moves the NXT robot a specific distance. A positive value moves it forward and a negative value moves it backward.
    
    Specified by:
    
    travel in interface MoveController
    
    Parameters:
    
    distance - The positive or negative distance to move the robot, in wheel diameter units.
    
    immediateReturn - If immediateReturn is true then the method returns immediately.
  - setLinearSpeed
```
public void setLinearSpeed(double speed)
```
    Description copied from interface: MoveController
    
    Sets the speed at which the robot will travel forward and backward (and to some extent arcs, although actual arc speed is slightly less). Speed is measured in units/second. e.g. If wheel diameter is cm, then speed is cm/sec.
    
    Specified by:
    
    setLinearSpeed in interface MoveController
    
    Parameters:
    
    speed - In chosen units per second (e.g. cm/sec)
  - getLinearSpeed
```
public double getLinearSpeed()
```
    Description copied from interface: MoveController
    
    Returns the speed at which the robot will travel forward and backward (and to some extent arcs, although actual arc speed is slightly less). Speed is measured in units/second. e.g. If wheel diameter is cm, then speed is cm/sec.
    
    Specified by:
    
    getLinearSpeed in interface MoveController
    
    Returns:
    
    Speed in chosen units per second (e.g. cm/sec)
  - getMaxLinearSpeed
```
public double getMaxLinearSpeed()
```
    Description copied from interface: MoveController
    
    Returns the maximum speed at which this robot is capable of traveling forward and backward. Speed is measured in units/second. e.g. If wheel diameter is cm, then speed is cm/sec.
    
    Specified by:
    
    getMaxLinearSpeed in interface MoveController
    
    Returns:
    
    Speed in chosen units per second (e.g. cm/sec)
  - getMovement
```
public Move getMovement()
```
    Description copied from interface: MoveProvider
    
    Returns the move made since the move started, but before it has completed. This method is used by GUI maps to display the movement of a robot in real time. The robot must be capable of determining the move while it is in motion.
    
    Specified by:
    
    getMovement in interface MoveProvider
    
    Returns:
    
    The move made since the move started.
  - addMoveListener
```
public void addMoveListener(MoveListener listener)
```
    Description copied from interface: MoveProvider
    
    Adds a MoveListener that will be notified of all movement events.
    
    Specified by:
    
    addMoveListener in interface MoveProvider
    
    Parameters:
    
    listener - the move listener
  - rotate
```
public void rotate(double angle,
                   boolean immediateReturn)
```
    Description copied from interface: RotateMoveController
    
    Rotates the NXT robot the specified number of degrees; direction determined by the sign of the parameter. Method returns immediately if immediateReturn flag is true, otherwise returns when rotation is done.
    
    Specified by:
    
    rotate in interface RotateMoveController
    
    Parameters:
    
    angle - The angle to rotate in degrees. A positive value rotates left, a negative value right (clockwise).
    
    immediateReturn - If true, method returns immediately, otherwise blocks until rotation is complete.
  - steer
```
public void steer(double turnRate)
```
  - setAngularSpeed
```
public void setAngularSpeed(double speed)
```
    Description copied from interface: RotateMoveController
    
    sets the rotation speed of the robot (the angular velocity of the rotate() methods)
    
    Specified by:
    
    setAngularSpeed in interface RotateMoveController
    
    Parameters:
    
    speed - in degrees per second
  - getAngularSpeed
```
public double getAngularSpeed()
```
    Description copied from interface: RotateMoveController
    
    Returns the value of the rotation speed
    
    Specified by:
    
    getAngularSpeed in interface RotateMoveController
    
    Returns:
    
    the rotate speed in degrees per second
  - getMaxAngularSpeed
```
public double getMaxAngularSpeed()
```
    Description copied from interface: RotateMoveController
    
    returns the maximum value of the rotation speed;
    
    Specified by:
    
    getMaxAngularSpeed in interface RotateMoveController
    
    Returns:
    
    max rotation speed
  - close
```
public void close()
```
  - arc
```
public void arc(double radius,
                double angle)
```
    Description copied from interface: ArcMoveController
    
    Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving. This method does not return until the robot has completed moving angle degrees along the arc.
    If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
    If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
    If radius is zero, is zero, the robot rotates in place.
    Robot will stop when the degrees it has moved along the arc equals angle.
    If angle is positive, the robot will turn to the left (anti-clockwise).
    If angle is negative, the robot will turn to the right (clockwise). If angle is zero, the robot will not move and the method returns immediately.
    Postcondition: Motor speeds are unpredictable.
    Note: If you have specified a drift correction in the constructor it will not be applied in this method.
    
    Specified by:
    
    arc in interface ArcMoveController
    
    Parameters:
    
    radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
    
    angle - The sign of the angle determines the direction of the robot turns: Positive is anti-clockwise, negative is clockwise.
    
    See Also:
    
    ArcMoveController.travelArc(double, double)
  - travel
```
public void travel(double distance)
```
    Description copied from interface: MoveController
    
    Moves the NXT robot a specific distance. A positive value moves it forward and a negative value moves it backward. Method returns when movement is done.
    
    Specified by:
    
    travel in interface MoveController
    
    Parameters:
    
    distance - The positive or negative distance to move the robot.
  - travelArc
```
public void travelArc(double radius,
                      double distance)
```
    Description copied from interface: ArcMoveController
    
    Moves the NXT robot a specified distance along an arc of specified radius, after which the robot stops moving. This method does not return until the robot has completed moving distance along the arc. The units (inches, cm) for distance must be the same as the units used for radius.
    If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
    If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
    If radius is zero, the robot rotates in place
    The robot will stop when it has moved along the arc distance units.
    If distance is positive, the robot will move travel forwards.
    If distance is negative, the robot will move travel backwards.
    If distance is zero, the robot will not move and the method returns immediately.
    Postcondition: Motor speeds are unpredictable.
    
    Specified by:
    
    travelArc in interface ArcMoveController
    
    Parameters:
    
    radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
    
    distance - to travel, in same units as radius. The sign of the distance determines the direction of robot motion. Positive drives the robot forward, negative drives it backward.
    
    See Also:
    
    ArcMoveController.arc(double, double)
  - rotate
```
public void rotate(double angle)
```
    Description copied from interface: RotateMoveController
    
    Rotates the NXT robot the specified number of degrees; direction determined by the sign of the parameter. Method returns when rotation is done.
    
    Specified by:
    
    rotate in interface RotateMoveController
    
    Parameters:
    
    angle - The angle to rotate in degrees. A positive value rotates left, a negative value right (clockwise).
  - setLinearAcceleration
```
public void setLinearAcceleration(double acceleration)
```
    Description copied from interface: MoveController
    
    Sets the acceleration at which the robot will accelerate at the start of a move and decelerate at the end of a move. Acceleration is measured in units/second^2. e.g. If wheel diameter is cm, then acceleration is cm/sec^2.
    If acceleration is set during a move it will not be in used for the current move, it will be in effect with the next move.
    
    Specified by:
    
    setLinearAcceleration in interface MoveController
    
    Parameters:
    
    acceleration - in chosen units/second^2
  - getLinearAcceleration
```
public double getLinearAcceleration()
```
    Description copied from interface: MoveController
    
    Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
    
    Specified by:
    
    getLinearAcceleration in interface MoveController
    
    Returns:
    
    acceleration in chosen units/second^2
  - rotateRight
```
public void rotateRight()
```
    Specified by:
    
    rotateRight in interface RotateMoveController
  - rotateLeft
```
public void rotateLeft()
```
    Specified by:
    
    rotateLeft in interface RotateMoveController
  - setAngularAcceleration
```
public void setAngularAcceleration(double acceleration)
```
    Description copied from interface: RotateMoveController
    
    Sets the acceleration at which the robot will accelerate at the start of a move and decelerate at the end of a move. Acceleration is measured in units/second^2. e.g. If wheel diameter is cm, then acceleration is cm/sec^2.
    If acceleration is set during a move it will not be in used for the current move, it will be in effect with the next move.
    
    Specified by:
    
    setAngularAcceleration in interface RotateMoveController
    
    Parameters:
    
    acceleration - in chosen units/second^2
  - getAngularAcceleration
```
public double getAngularAcceleration()
```
    Description copied from interface: RotateMoveController
    
    Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
    
    Specified by:
    
    getAngularAcceleration in interface RotateMoveController
    
    Returns:
    
    acceleration in chosen units/second^2

Class RemoteRequestPilot

Field Summary

Fields inherited from interface lejos.robotics.navigation.MoveController

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

RemoteRequestPilot

Method Detail

getMinRadius

setMinRadius

arcForward

arcBackward

arc

travelArc

forward

backward

stop

isMoving

travel

setLinearSpeed

getLinearSpeed

getMaxLinearSpeed

getMovement

addMoveListener

rotate

steer

setAngularSpeed

getAngularSpeed

getMaxAngularSpeed

close

arc

travel

travelArc

rotate

setLinearAcceleration

getLinearAcceleration

rotateRight

rotateLeft

setAngularAcceleration

getAngularAcceleration