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Class EDU.gatech.cc.is.abstractrobot.ControlSystemS

java.lang.Object
   |
   +----EDU.gatech.cc.is.abstractrobot.ControlSystemS

public class ControlSystemS
extends Object
This is the superclass for all robot Control Systems. When you create a contol system by extending this class, it can run within JavaBotHard to control a real robot or JavaBotSim in simulation.

Ordinarily this sort of class would be declared abstract. But because robots and control systems must be instantiated on the fly, this class had to be fully implemented. Copyright (c)1997, 1998 Tucker Balch

Version:
$Revision: 1.5 $
Author:
Tucker Balch

Variable Index

 o abstract_robot
The robot to which the control system is attached.
 o CSSTAT_DONE
Return value from TakeStep(), indicates the mission is complete.
 o CSSTAT_ERROR
Return value from TakeStep(), indicates some sort of error condition has occured.
 o CSSTAT_OK
Return value from TakeStep(), indicates everything is OK.
 o seed
The random number seed to use in configuration or whatever.

Constructor Index

 o ControlSystemS()
Constructor.

Method Index

 o Configure()
DEPRECATED, Use configure() instead. Deprecated.
 o configure()
Override this method if you like, to configure your control system.
 o getAbstractRobot()
Get a copy of the abstract robot object.
 o Init(Simple)
DEPRECATED, use init() instead. Deprecated.
 o init(Simple, long)
Initialize the object.
 o quit()
Called only once, at the end of the simulation or hard run.
 o TakeStep()
DEPRECATED, Use takestep() instead. Deprecated.
 o takeStep()
Called every timestep to allow the control system to run.
 o TrialEnd()
DEPRECATED, Use trialEnd() instead. Deprecated.
 o trialEnd()
Called at the end of every trial.
 o TrialInit()
DEPRECATED, Use trialInit() instead. Deprecated.
 o trialInit()
Called at the beginning of every trial.

Variables

 o CSSTAT_OK
 public static final int CSSTAT_OK
Return value from TakeStep(), indicates everything is OK.

 o CSSTAT_ERROR
 public static final int CSSTAT_ERROR
Return value from TakeStep(), indicates some sort of error condition has occured.

 o CSSTAT_DONE
 public static final int CSSTAT_DONE
Return value from TakeStep(), indicates the mission is complete.

 o abstract_robot
 public Simple abstract_robot
The robot to which the control system is attached.

 o seed
 public long seed
The random number seed to use in configuration or whatever.

Constructors

 o ControlSystemS
 public ControlSystemS()
Constructor. Don't override this method, use Configure instead.

Methods

 o Init
 public void Init(Simple r)
Note: Init() is deprecated. to conform with Java naming conventions, use init().

DEPRECATED, use init() instead. Initialize the object. Don't override this method, use Configure instead.

 o init
 public void init(Simple r,
                  long s)
Initialize the object. Don't override this method, use Configure instead.

Parameters:
r - Simple, the robot hardware.
s - long, random number seed.
 o Configure
 public void Configure()
Note: Configure() is deprecated. to conform with Java naming conventions, use configure().

DEPRECATED, Use configure() instead.

 o configure
 public void configure()
Override this method if you like, to configure your control system.

 o getAbstractRobot
 public Simple getAbstractRobot()
Get a copy of the abstract robot object.

Returns:
the abstract robot object.
 o takeStep
 public int takeStep()
Called every timestep to allow the control system to run. You should override this method for your control system. Note: this is the proper name ("TakeStep" does not comform to Java naming conventions).

 o TakeStep
 public int TakeStep()
Note: TakeStep() is deprecated. to conform with Java naming conventions, use takestep() instead.

DEPRECATED, Use takestep() instead. Called every timestep to allow the control system to run. You should override this method for your control system.

 o TrialInit
 public void TrialInit()
Note: TrialInit() is deprecated. to conform with Java naming conventions, use trialInit() instead.

DEPRECATED, Use trialInit() instead. Called at the beginning of every trial. You can override this method to read configuration information from a file or to reset variables.

 o trialInit
 public void trialInit()
Called at the beginning of every trial. You can override this method to read configuration information from a file or to reset variables.

 o TrialEnd
 public void TrialEnd()
Note: TrialEnd() is deprecated. to conform with Java naming conventions, use trialEnd() instead.

DEPRECATED, Use trialEnd() instead. Called at the end of every trial. You can override this method to save configuration information to a file or to reset variables.

 o trialEnd
 public void trialEnd()
Called at the end of every trial. You can override this method to save configuration information to a file or to reset variables.

 o quit
 public void quit()
Called only once, at the end of the simulation or hard run. Override it to save log data to a file.


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