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Interface EDU.gatech.cc.is.abstractrobot.SimpleN150

public interface SimpleN150
extends SimpleInterface
Provides an abstract interface to the hardware of a basic Nomadic Technologies Nomad 150 robot (no vision, gripper or communication). In addition to the capabilities provided by a Simple robot, we also get a rotating turret.

Copyright (c)1997, 1998 Tucker Balch

Version:
$Revision: 1.2 $
Author:
Tucker Balch

Variable Index

 o MAX_STEER
 o MAX_TRANSLATION
 o MAX_TURRET
Max rate of turn of the turret in radians/sec.
 o RADIUS
 o SONAR_RADIUS
How far sonar ring is from center of robot.

Method Index

 o getTurretHeading(long)
Get the current heading of the turret motor.
 o resetTurretHeading(double)
Reset the turret odometry of the robot in global coordinates.
 o setTurretHeading(long, double)
Set the desired heading for the turret motor.

Variables

 o MAX_TRANSLATION
 public static final double MAX_TRANSLATION
 o MAX_STEER
 public static final double MAX_STEER
 o RADIUS
 public static final double RADIUS
 o MAX_TURRET
 public static final double MAX_TURRET
Max rate of turn of the turret in radians/sec.

 o SONAR_RADIUS
 public static final double SONAR_RADIUS
How far sonar ring is from center of robot.

Methods

 o getTurretHeading
 public abstract double getTurretHeading(long timestamp)
Get the current heading of the turret motor.

Parameters:
timestamp - only get new information if timestamp > than last call or timestamp == -1.
Returns:
the turret heading in radians.
See Also:
setTurretHeading, resetTurretHeading
 o resetTurretHeading
 public abstract void resetTurretHeading(double heading)
Reset the turret odometry of the robot in global coordinates. This might be done when reliable sensor information provides a very good estimate of the robot's turret heading. Do this only if you are certain you're right!

Parameters:
heading - the new turret heading in radians.
See Also:
getTurretHeading, setTurretHeading
 o setTurretHeading
 public abstract void setTurretHeading(long timestamp,
                                       double heading)
Set the desired heading for the turret motor.

Parameters:
timestamp - only get new information if timestamp > than last call or timestamp == -1.
heading - the heading in radians.
See Also:
getTurretHeading, resetTurretHeading

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