OmniPilot (leJOS EV3 API documentation)

java.lang.Object
- lejos.robotics.navigation.OmniPilot

All Implemented Interfaces:

ArcMoveController, ArcRotateMoveController, MoveController, MoveProvider, RotateMoveController, RegulatedMotorListener

Deprecated.
use MovePilot instead.
```
@Deprecated
public class OmniPilot
extends java.lang.Object
implements ArcRotateMoveController, RegulatedMotorListener
```
Use the OmniPilot class to control holonomic vehicles with three omnidirectional wheels that allow the robot to move in any direction without changing heading. The robot can also spin while driving straight, and perform any kind of maneuvre the other steering and differential drive vehicles can do. The odometry is computed by this class directly. For the class to work properly, take care to design the robot symmetrically, so that the three wheel axes meet in the center of the robot.

Author:

Daniele Benedettelli

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
`OmniPilot(float wheelDistanceFromCenter, float wheelDiameter, RegulatedMotor centralMotor, RegulatedMotor CW120degMotor, RegulatedMotor CCW120degMotor, boolean centralWheelFrontal, boolean motorReverse, Power battery)` Deprecated. Instantiates a new omnidirectional pilot.
`OmniPilot(float wheelDistanceFromCenter, float wheelDiameter, RegulatedMotor centralMotor, RegulatedMotor CW120degMotor, RegulatedMotor CCW120degMotor, boolean centralWheelFrontal, boolean motorReverse, Power battery, Gyroscope gyro)` Deprecated. Instantiates a new omnidirectional pilot.

Method Summary

All Methods Instance Methods Concrete Methods Deprecated Methods
Modifier and Type	Method and Description
`void`	`addMoveListener(MoveListener listener)` Deprecated. Adds a MoveListener that will be notified of all movement events.
`void`	`arc(double radius, double angle)` Deprecated. 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)` Deprecated. 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, double direction)` Deprecated. This method moves the robot in an arc, similar to the other `arc(double, double)` methods, except you can choose any of the 360 degree directions relative to the current heading (0) of the robot, while keeping the heading of the robot pointed in the same direction during the move.
`void`	`arc(double radius, double angle, double direction, boolean immediateReturn)` Deprecated. This method moves the robot in an arc, similar to the other `arc(double, double)` methods, except you can choose any of the 360 degree directions relative to the current heading (0) of the robot, while keeping the heading of the robot pointed in the same direction during the move.
`void`	`arcBackward(double radius)` Deprecated. Starts the NXT robot moving backward along an arc with a specified radius.
`void`	`arcForward(double radius)` Deprecated. Starts the NXT robot moving forward along an arc with a specified radius.
`void`	`backward()` Deprecated. Starts the NXT robot moving backwards.
`void`	`forward()` Deprecated. Starts the NXT robot moving forward.
`double`	`getAngularAcceleration()` Deprecated. Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
`double`	`getAngularSpeed()` Deprecated. Returns the value of the rotation speed
`double`	`getLinearAcceleration()` Deprecated. Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
`double`	`getLinearSpeed()` Deprecated. 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()` Deprecated. returns the maximum value of the rotation speed;
`double`	`getMaxLinearSpeed()` Deprecated. Returns the maximum speed at which this robot is capable of traveling forward and backward.
`double`	`getMinRadius()` Deprecated. The minimum steering radius this vehicle is capable of when traveling in an arc.
`float`	`getMoveDirection()` Deprecated. Gets the move direction.
`Move`	`getMovement()` Deprecated. Returns the move made since the move started, but before it has completed.
`boolean`	`isMoving()` Deprecated. true if the robot is moving
`void`	`moveStraight(float linSpeed, int direction)` Deprecated. This method causes the robot to move in a direction while keeping the front of the robot pointed in the current direction it is facing.
`void`	`reset()` Deprecated. Reset all tacho counts.
`void`	`rotate(double angle)` Deprecated. Rotates the NXT robot the specified number of degrees; direction determined by the sign of the parameter.
`void`	`rotate(double angle, boolean immediateReturn)` Deprecated. Rotates the NXT robot the specified number of degrees; direction determined by the sign of the parameter.
`void`	`rotateLeft()` Deprecated.
`void`	`rotateRight()` Deprecated.
`void`	`rotationStarted(RegulatedMotor motor, int tachoCount, boolean stalled, long timeStamp)` Deprecated. Called when the motor starts rotating.
`void`	`rotationStopped(RegulatedMotor motor, int tachoCount, boolean stalled, long timeStamp)` Deprecated. Notify the MoveListeners when a move is completed.
`void`	`setAngularAcceleration(double acceleration)` Deprecated. 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)` Deprecated. sets the rotation speed of the robot (the angular velocity of the rotate() methods)
`void`	`setLinearAcceleration(double accel)` Deprecated. 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)` Deprecated. 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)` Deprecated. Set the radius of the minimum turning circle.
`void`	`setMoveDirection(int dir)` Deprecated. Sets the move direction.
`void`	`setSpeed(int speed)` Deprecated. in 0.8, use setRotateSpeed() and setTravelSpeed(). The method was deprecated, as this it requires knowledge of the robots physical construction, which this interface should hide!
`void`	`spinningMove(float linSpeed, int angSpeed, int direction)` Deprecated. Causes the robot to spin while moving along a linear path.
`void`	`steer(float turnRate)` Deprecated. Steer.
`void`	`steer(float linSpeed, float angSpeed)` Deprecated. Steer.
`void`	`steer(float turnRate, float angle, boolean immediateReturn)` Deprecated. Steer.
`void`	`stop()` Deprecated. Halts the NXT robot
`void`	`travel(double distance)` Deprecated. Moves the NXT robot a specific distance.
`void`	`travel(double distance, boolean immediateReturn)` Deprecated. Moves the NXT robot a specific distance.
`void`	`travel(double distance, double direction)` Deprecated. This method causes the robot to travel in a linear path, similar to other travel() methods, except you can specify which direction to move (relative to the current robot heading).
`void`	`travel(double distance, double direction, boolean immediateReturn)` Deprecated. This method causes the robot to travel in a linear path, similar to other travel() methods, except you can specify which direction to move (relative to the current robot heading).
`void`	`travelArc(double radius, double distance)` Deprecated. 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)` Deprecated. 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, float direction)` Deprecated. This method moves the robot in an arc, similar to the other `travelArc(double, double)` methods, except you can choose any of the 360 degree directions relative to the current heading (0) of the robot, while keeping the heading of the robot pointed in the same direction during the move.
`void`	`travelArc(double radius, double distance, float direction, boolean immediateReturn)` Deprecated. This method moves the robot in an arc, similar to the other `travelArc(double, double)` methods, except you can choose any of the 360 degree directions relative to the current heading (0) of the robot, while keeping the heading of the robot pointed in the same direction during the move.

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

- Constructor Detail
  - OmniPilot
```
public OmniPilot(float wheelDistanceFromCenter,
                 float wheelDiameter,
                 RegulatedMotor centralMotor,
                 RegulatedMotor CW120degMotor,
                 RegulatedMotor CCW120degMotor,
                 boolean centralWheelFrontal,
                 boolean motorReverse,
                 Power battery)
```
    Deprecated.
    
    Instantiates a new omnidirectional pilot. This class also keeps track of the odometry Express the distances in the units you prefer (mm, in, cm ...)
    
    Parameters:
    
    wheelDistanceFromCenter - the wheel distance from center
    
    wheelDiameter - the wheel diameter
    
    centralMotor - the central motor
    
    CW120degMotor - the motor at 120 degrees clockwise from front
    
    CCW120degMotor - the motor at 120 degrees counter-clockwise from front
    
    centralWheelFrontal - if true, the central wheel frontal else it is facing back
    
    motorReverse - if motors are mounted reversed
  - OmniPilot
```
public OmniPilot(float wheelDistanceFromCenter,
                 float wheelDiameter,
                 RegulatedMotor centralMotor,
                 RegulatedMotor CW120degMotor,
                 RegulatedMotor CCW120degMotor,
                 boolean centralWheelFrontal,
                 boolean motorReverse,
                 Power battery,
                 Gyroscope gyro)
```
    Deprecated.
    
    Instantiates a new omnidirectional pilot. This class also keeps track of the odometry Express the distances in the units you prefer (mm, in, cm ...) This constructor allows you to add a cruizcore gyro for accurate odometry and spinning
    
    Parameters:
    
    wheelDistanceFromCenter - the wheel distance from center
    
    wheelDiameter - the wheel diameter
    
    centralMotor - the central motor
    
    CW120degMotor - the motor at 120 degrees clockwise from front
    
    CCW120degMotor - the motor at 120 degrees counter-clockwise from front
    
    centralWheelFrontal - if true, the central wheel frontal else it is facing back
    
    motorReverse - if motors are mounted reversed
    
    gyro - the gyroscope
- Method Detail
  - setLinearAcceleration
```
public void setLinearAcceleration(double accel)
```
    Deprecated.
    
    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:
    
    accel - in chosen units/second^2
  - getLinearAcceleration
```
public double getLinearAcceleration()
```
    Deprecated.
    
    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
  - forward
```
public void forward()
```
    Deprecated.
    
    Description copied from interface: MoveController
    
    Starts the NXT robot moving forward.
    
    Specified by:
    
    forward in interface MoveController
  - backward
```
public void backward()
```
    Deprecated.
    
    Description copied from interface: MoveController
    
    Starts the NXT robot moving backwards.
    
    Specified by:
    
    backward in interface MoveController
  - moveStraight
```
public void moveStraight(float linSpeed,
                         int direction)
```
    Deprecated.
    
    This method causes the robot to move in a direction while keeping the front of the robot pointed in the current direction it is facing.
    
    Parameters:
    
    linSpeed - the lin speed
    
    direction - the direction relative to the current direction the robot is facing
  - spinningMove
```
public void spinningMove(float linSpeed,
                         int angSpeed,
                         int direction)
```
    Deprecated.
    
    Causes the robot to spin while moving along a linear path. This method is similar to moveStraight(float, int) except the robot will spin instead of holding the robot in the current direction.
    
    Parameters:
    
    linSpeed - the linear speed [units/s]
    
    angSpeed - the angular speed [deg/s]
    
    direction - the direction [deg]
  - stop
```
public void stop()
```
    Deprecated.
    
    Description copied from interface: MoveController
    
    Halts the NXT robot
    
    Specified by:
    
    stop in interface MoveController
  - isMoving
```
public boolean isMoving()
```
    Deprecated.
    
    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.
  - setLinearSpeed
```
public void setLinearSpeed(double speed)
```
    Deprecated.
    
    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()
```
    Deprecated.
    
    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)
  - setMoveDirection
```
public void setMoveDirection(int dir)
```
    Deprecated.
    
    Sets the move direction. This value is then used by subsequent calls to steer(float) (all three overloaded methods).
    
    Parameters:
    
    dir - the new move direction
  - getMoveDirection
```
public float getMoveDirection()
```
    Deprecated.
    
    Gets the move direction.
    
    Returns:
    
    the move direction
  - getMaxLinearSpeed
```
public double getMaxLinearSpeed()
```
    Deprecated.
    
    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)
  - setAngularSpeed
```
public void setAngularSpeed(double speed)
```
    Deprecated.
    
    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()
```
    Deprecated.
    
    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()
```
    Deprecated.
    
    Description copied from interface: RotateMoveController
    
    returns the maximum value of the rotation speed;
    
    Specified by:
    
    getMaxAngularSpeed in interface RotateMoveController
    
    Returns:
    
    max rotation speed
  - travel
```
public void travel(double distance)
```
    Deprecated.
    
    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.
  - travel
```
public void travel(double distance,
                   double direction)
```
    Deprecated.
    
    This method causes the robot to travel in a linear path, similar to other travel() methods, except you can specify which direction to move (relative to the current robot heading). NOTE: This method is not part of the MoveController interface.
    
    Parameters:
    
    distance -
    
    direction -
  - travel
```
public void travel(double distance,
                   boolean immediateReturn)
```
    Deprecated.
    
    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.
  - travel
```
public void travel(double distance,
                   double direction,
                   boolean immediateReturn)
```
    Deprecated.
    
    This method causes the robot to travel in a linear path, similar to other travel() methods, except you can specify which direction to move (relative to the current robot heading). NOTE: This method is not part of the MoveController interface.
    
    Parameters:
    
    distance -
    
    direction -
    
    immediateReturn -
  - rotate
```
public void rotate(double angle)
```
    Deprecated.
    
    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).
  - rotate
```
public void rotate(double angle,
                   boolean immediateReturn)
```
    Deprecated.
    
    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(float turnRate)
```
    Deprecated.
    
    Steer.
    
    Parameters:
    
    turnRate - the turn rate
  - steer
```
public void steer(float linSpeed,
                  float angSpeed)
```
    Deprecated.
    
    Steer.
    
    Parameters:
    
    linSpeed - the lin speed
    
    angSpeed - the ang speed
  - steer
```
public void steer(float turnRate,
                  float angle,
                  boolean immediateReturn)
```
    Deprecated.
    
    Steer.
    
    Parameters:
    
    turnRate - the turn rate
    
    angle - the angle
    
    immediateReturn - the immediate return
  - travelArc
```
public void travelArc(double radius,
                      double distance)
```
    Deprecated.
    
    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)
  - travelArc
```
public void travelArc(double radius,
                      double distance,
                      boolean immediateReturn)
```
    Deprecated.
    
    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)
  - travelArc
```
public void travelArc(double radius,
                      double distance,
                      float direction)
```
    Deprecated.
    
    This method moves the robot in an arc, similar to the other travelArc(double, double) methods, except you can choose any of the 360 degree directions relative to the current heading (0) of the robot, while keeping the heading of the robot pointed in the same direction during the move. NOTE: This method is not part of the MoveController interface.
    
    Parameters:
    
    radius -
    
    distance -
    
    direction -
  - travelArc
```
public void travelArc(double radius,
                      double distance,
                      float direction,
                      boolean immediateReturn)
```
    Deprecated.
    
    This method moves the robot in an arc, similar to the other travelArc(double, double) methods, except you can choose any of the 360 degree directions relative to the current heading (0) of the robot, while keeping the heading of the robot pointed in the same direction during the move. NOTE: This method is not part of the MoveController interface.
    
    Parameters:
    
    radius -
    
    distance -
    
    direction -
    
    immediateReturn -
  - arc
```
public void arc(double radius,
                double angle)
```
    Deprecated.
    
    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)
  - arc
```
public void arc(double radius,
                double angle,
                double direction)
```
    Deprecated.
    
    This method moves the robot in an arc, similar to the other arc(double, double) methods, except you can choose any of the 360 degree directions relative to the current heading (0) of the robot, while keeping the heading of the robot pointed in the same direction during the move. NOTE: This method is not part of the MoveController interface.
    
    Parameters:
    
    radius -
    
    angle -
    
    direction -
  - arc
```
public void arc(double radius,
                double angle,
                boolean immediateReturn)
```
    Deprecated.
    
    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)
  - arc
```
public void arc(double radius,
                double angle,
                double direction,
                boolean immediateReturn)
```
    Deprecated.
    
    This method moves the robot in an arc, similar to the other arc(double, double) methods, except you can choose any of the 360 degree directions relative to the current heading (0) of the robot, while keeping the heading of the robot pointed in the same direction during the move. NOTE: This method is not part of the MoveController interface.
    
    Parameters:
    
    radius -
    
    angle -
    
    direction -
    
    immediateReturn -
  - reset
```
public void reset()
```
    Deprecated.
    
    Reset all tacho counts. TODO: Delete this method? Unused by any other method or class.
  - setSpeed
```
@Deprecated
public void setSpeed(int speed)
```
    Deprecated. in 0.8, use setRotateSpeed() and setTravelSpeed(). The method was deprecated, as this it requires knowledge of the robots physical construction, which this interface should hide!
    
    Sets drive motor speed.
    
    Parameters:
    
    speed - the new speed
  - arcBackward
```
public void arcBackward(double radius)
```
    Deprecated.
    
    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.
  - arcForward
```
public void arcForward(double radius)
```
    Deprecated.
    
    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.
  - getMinRadius
```
public double getMinRadius()
```
    Deprecated.
    
    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)
```
    Deprecated.
    
    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
  - addMoveListener
```
public void addMoveListener(MoveListener listener)
```
    Deprecated.
    
    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
  - getMovement
```
public Move getMovement()
```
    Deprecated.
    
    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.
  - rotationStarted
```
public void rotationStarted(RegulatedMotor motor,
                            int tachoCount,
                            boolean stalled,
                            long timeStamp)
```
    Deprecated.
    
    Description copied from interface: RegulatedMotorListener
    
    Called when the motor starts rotating.
    
    Specified by:
    
    rotationStarted in interface RegulatedMotorListener
  - rotationStopped
```
public void rotationStopped(RegulatedMotor motor,
                            int tachoCount,
                            boolean stalled,
                            long timeStamp)
```
    Deprecated.
    
    Notify the MoveListeners when a move is completed.
    
    Specified by:
    
    rotationStopped in interface RegulatedMotorListener
  - rotateRight
```
public void rotateRight()
```
    Deprecated.
    
    Specified by:
    
    rotateRight in interface RotateMoveController
  - rotateLeft
```
public void rotateLeft()
```
    Deprecated.
    
    Specified by:
    
    rotateLeft in interface RotateMoveController
  - setAngularAcceleration
```
public void setAngularAcceleration(double acceleration)
```
    Deprecated.
    
    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()
```
    Deprecated.
    
    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 OmniPilot

Field Summary

Fields inherited from interface lejos.robotics.navigation.MoveController

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

OmniPilot

OmniPilot

Method Detail

setLinearAcceleration

getLinearAcceleration

forward

backward

moveStraight

spinningMove

stop

isMoving

setLinearSpeed

getLinearSpeed

setMoveDirection

getMoveDirection

getMaxLinearSpeed

setAngularSpeed

getAngularSpeed

getMaxAngularSpeed

travel

travel

travel

travel

rotate

rotate

steer

steer

steer

travelArc

travelArc

travelArc

travelArc

arc

arc

arc

arc

reset

setSpeed

arcBackward

arcForward

getMinRadius

setMinRadius

addMoveListener

getMovement

rotationStarted

rotationStopped

rotateRight

rotateLeft

setAngularAcceleration

getAngularAcceleration