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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
-
MAX_STEER
-
-
MAX_TRANSLATION
-
-
MAX_TURRET
- Max rate of turn of the turret in radians/sec.
-
RADIUS
-
-
SONAR_RADIUS
- How far sonar ring is from center of robot.
-
getTurretHeading(long)
- Get the current heading of the turret motor.
-
resetTurretHeading(double)
- Reset the turret odometry of the robot in global coordinates.
-
setTurretHeading(long, double)
- Set the desired heading for the turret motor.
MAX_TRANSLATION
public static final double MAX_TRANSLATION
MAX_STEER
public static final double MAX_STEER
RADIUS
public static final double RADIUS
MAX_TURRET
public static final double MAX_TURRET
- Max rate of turn of the turret in radians/sec.
SONAR_RADIUS
public static final double SONAR_RADIUS
- How far sonar ring is from center of robot.
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
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
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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