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java.lang.Object lejos.robotics.RotatingRangeScanner
public class RotatingRangeScanner
Implementation of RangeScanner with a rotating ultrasonic sensor or other range finder
Field Summary | |
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protected float[] |
angles
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protected int |
gearRatio
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protected RegulatedMotor |
head
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protected int |
MAX_RELIABLE_RANGE_READING
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protected RangeFinder |
rangeFinder
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protected RangeReadings |
readings
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protected int |
ZERO
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Constructor Summary | |
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RotatingRangeScanner(RegulatedMotor head,
RangeFinder rangeFinder)
The constructor specifies the motor and range finder used |
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RotatingRangeScanner(RegulatedMotor head,
RangeFinder rangeFinder,
int gearRatio)
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Method Summary | |
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RangeFinder |
getRangeFinder()
returns the rangeFinder - allows other objects to get a range value. |
RangeReadings |
getRangeValues()
Returns a set of Range Readings taken the angles specified. |
void |
setAngles(float[] angles)
set the angles to be used by the getRangeValues() method |
void |
setGearRatio(int gearRatio)
Set the gear ratio |
void |
setHeadMotor(RegulatedMotor motor)
Set the head motor |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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protected final int MAX_RELIABLE_RANGE_READING
protected final int ZERO
protected RangeReadings readings
protected RangeFinder rangeFinder
protected RegulatedMotor head
protected float[] angles
protected int gearRatio
Constructor Detail |
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public RotatingRangeScanner(RegulatedMotor head, RangeFinder rangeFinder)
head
- the motor that rotates the sensorrangeFinder
- the range finderpublic RotatingRangeScanner(RegulatedMotor head, RangeFinder rangeFinder, int gearRatio)
Method Detail |
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public void setGearRatio(int gearRatio)
gearRatio
- the gear ratiopublic void setHeadMotor(RegulatedMotor motor)
motor
- the head motorpublic RangeReadings getRangeValues()
getRangeValues
in interface RangeScanner
public void setAngles(float[] angles)
setAngles
in interface RangeScanner
angles
- public RangeFinder getRangeFinder()
getRangeFinder
in interface RangeScanner
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