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Class EDU.gatech.cc.is.abstractrobot.MultiForageN150HardPassiveGrip

java.lang.Object
   |
   +----EDU.gatech.cc.is.abstractrobot.Simple
           |
           +----EDU.gatech.cc.is.abstractrobot.SimpleN150Hard
                   |
                   +----EDU.gatech.cc.is.abstractrobot.MultiForageN150Hard
                           |
                           +----EDU.gatech.cc.is.abstractrobot.MultiForageN150HardPassiveGrip

public class MultiForageN150HardPassiveGrip
extends MultiForageN150Hard
implements MultiForageN150, HardObject
MultiForageN150HardPassiveGrip implements MultiForageN150 for Nomad 150 hardware using the Ndirect class. Assumes a passive gripper. You should see the specifications in MultiForageN150 and Ndirect class documentation for details.

To reduce I/O between the controller and the robot, a thread is set up to perform periodic I/O. The sensor data and motor commands are exchanged through MultiForageN150HardPassiveGrip class variables (globals).

Copyright (c)1997, 1998 Tucker Balch

Version:
$Revision: 1.3 $
Author:
Tucker Balch
See Also:
MultiForageN150, Ndirect, Newton

Constructor Index

 o MultiForageN150HardPassiveGrip(int, int)
Instantiate a MultiForageN150HardPasiveGrip object.

Method Index

 o takeStep()
Conducts periodic I/O with the robot.

Constructors

 o MultiForageN150HardPassiveGrip
 public MultiForageN150HardPassiveGrip(int serial_port,
                                       int baud) throws Exception
Instantiate a MultiForageN150HardPasiveGrip object. You should only instantiate one of these per robot connected to your computer. Standard call is MultiForageN150Hard(1,38400);

Parameters:
serial_port - 1 = ttys0 (COM1), 2 = ttys1 (COM2) ...
baud - baud rate for communication.
Throws: Exception
If unable to configure the hardware.

Methods

 o takeStep
 public void takeStep()
Conducts periodic I/O with the robot. It runs at most every MultiForageN150HardPassiveGrip.MIN_CYCLE_TIME milliseconds to gather sensor data from the robot, and issue movement commands.

Overrides:
takeStep in class SimpleN150Hard

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