lejos.navigation
Class CompassPilot

java.lang.Object
  lejos.navigation.Pilot
      lejos.navigation.CompassPilot

public class CompassPilot
extends Pilot

A Pilot that keeps track of direction using a CompassSensor.

Field Summary

protected CompassSensor

compass

Fields inherited from class lejos.navigation.Pilot

_degPerDistance, _left, _right, _speed, _trackWidth, _wheelDiameter

Constructor Summary

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

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

CompassPilot(SensorPort compassPort, float wheelDiameter, float trackWidth, Motor leftMotor, Motor rightMotor)
Allocates a CompasPilot object, and sets the physical parameters of the NXT robot.

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

Method Summary

void	calibrate()
int	getAngle() Returns the compass angle in degrees, Cartesian (increasing counter clockwise)
CompassSensor	getCompass() return the compass
int	getHeading() Returns target direction of 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 if the robot is travelling for a specific distance;
void	rotate(int 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(int angle, boolean immediateReturn) see rotate(angle)
void	rotateTo(int heading) robot rotates to the specified compass heading;
void	rotateTo(int angle, boolean immediateReturn) robot rotates to the specified compass heading;
void	setHeading(int angle) sets target direction of robot facing in degrees
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.navigation.Pilot

backward, forward, getLeft, getLeftActualSpeed, getLeftCount, getRight, getRightActualSpeed, getRightCount, getSpeed, getTravelDistance, getTurnRatio, regulateSpeed, resetTachoCount, setSpeed, steer, steer, steer, stop

Methods inherited from class java.lang.Object

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

Field Detail

compass

protected CompassSensor compass

Constructor Detail

CompassPilot

public CompassPilot(SensorPort compassPort,
                    float wheelDiameter,
                    float trackWidth,
                    Motor leftMotor,
                    Motor rightMotor)

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

Parameters:

compassPort - the sensor port connected to the CompassSensor e.g. SensorPort.S1

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

CompassPilot

public CompassPilot(SensorPort compassPort,
                    float wheelDiameter,
                    float trackWidth,
                    Motor leftMotor,
                    Motor 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:

compassPort - : the compass sensor is connected to this port;

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

CompassPilot

public CompassPilot(CompassSensor compass,
                    float wheelDiameter,
                    float trackWidth,
                    Motor leftMotor,
                    Motor 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(CompassSensor compass,
                    float wheelDiameter,
                    float trackWidth,
                    Motor leftMotor,
                    Motor 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 if the robot is travelling for a specific distance;

getCompass

public CompassSensor getCompass()

return the compass

Returns:

the compass

getAngle

public int getAngle()

Returns the compass angle in degrees, Cartesian (increasing counter clockwise)

Overrides:

getAngle in class Pilot

getHeading

public int getHeading()

Returns target direction of robot facing

setHeading

public void setHeading(int angle)

sets target direction of robot facing in degrees

calibrate

public void calibrate()

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. If immediateReturn is fale, this method calls updateXY(). If immediateReturn is true, method returns immidiately and your code MUST call updateXY() after the robot stops and before the robot moves again. Otherwise, the robot position is lost.

Overrides:

travel in class Pilot

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;

Overrides:

travel in class Pilot

Parameters:

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

rotateTo

public void rotateTo(int angle,
                     boolean immediateReturn)

robot rotates to the specified compass heading;

Parameters:

angle - Desired compass heading

immediateReturn - if TRUE, method returns immediately; robot stops facing in specified direction

rotateTo

public void rotateTo(int heading)

robot rotates to the specified compass heading;

Parameters:

heading - Desired compass heading

rotate

public void rotate(int angle,
                   boolean immediateReturn)

see rotate(angle)

Overrides:

rotate in class Pilot

Parameters:

immediateReturn - - if true, method returns immediately.
Robot stops when specified angle is reached

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

rotate

public void rotate(int 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.

Overrides:

rotate in class Pilot

Parameters:

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

isMoving

public boolean isMoving()

returns TRUE if robot is moving

Overrides:

isMoving in class Pilot