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Class EDU.gatech.cc.is.abstractrobot.MultiForageN150HardPassiveGrip
java.lang.Object
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+----EDU.gatech.cc.is.abstractrobot.Simple
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+----EDU.gatech.cc.is.abstractrobot.SimpleN150Hard
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+----EDU.gatech.cc.is.abstractrobot.MultiForageN150Hard
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+----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
-
MultiForageN150HardPassiveGrip(int, int)
- Instantiate a MultiForageN150HardPasiveGrip object.
-
takeStep()
- Conducts periodic I/O with
the robot.
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.
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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