ch.unizh.ini.jaer.projects.robothead.robotcontrol
Class KoalaControl

java.lang.Object
  ch.unizh.ini.jaer.projects.robothead.robotcontrol.KoalaControl

public class KoalaControl
extends java.lang.Object

This Class contains all methods used to drive the robot from the ControlFilter. Most methods are similar to the ones in KoalaGui. Semaphor is usead as in the KoalaGui KoalaControl instanciates Koala and also contains an init and close method. Also PanTilt Control is integrated TODO: also Pan-Tilt Control should be implemented here?

Author:

jaeckeld

Field Summary

static ThrdIsRobotMoving	Checker
static boolean	detCollision
static ThrdDetectCollision	Detector
static PanTilt	dreher
static boolean	IsThereObstacle
static boolean	movingSemaphor
static ThrdHandleObstacle	Obstacler
static boolean[]	ObstacleSens
static int[]	OldSens
static int	QuarterTurn
static boolean	registerPath
static boolean	RobotMoving
static boolean	SemaphorRS232
static Koala	tester
static int	timeToArrive
static int	toGo
static int	toGoLeft
static int	toGoRight
static int	tooClose
static CoordinatesWriter	Writer

Constructor Summary

KoalaControl()
Creates a new instance of KoalaControl

Method Summary

void	close()
static int[]	getMotorPos()
static int[]	getSensors()
static int[]	getSpeeds()
static void	goRobot(int position, int speed)
static void	gotoMotorPos(int a, int b)
static void	initiate(int port)
static void	setMotorPos(int a, int b)
static void	setSpeeds(int a, int b)
static void	turnRobot(int angle)
static boolean	wayClear(int[] OldSens)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

tester

public static Koala tester

dreher

public static PanTilt dreher

SemaphorRS232

public static boolean SemaphorRS232

RobotMoving

public static volatile boolean RobotMoving

IsThereObstacle

public static volatile boolean IsThereObstacle

Checker

public static ThrdIsRobotMoving Checker

Detector

public static ThrdDetectCollision Detector

Obstacler

public static ThrdHandleObstacle Obstacler

Writer

public static CoordinatesWriter Writer

OldSens

public static int[] OldSens

ObstacleSens

public static boolean[] ObstacleSens

registerPath

public static boolean registerPath

movingSemaphor

public static boolean movingSemaphor

detCollision

public static boolean detCollision

QuarterTurn

public static int QuarterTurn

tooClose

public static int tooClose

toGo

public static int toGo

toGoLeft

public static int toGoLeft

toGoRight

public static int toGoRight

timeToArrive

public static int timeToArrive

Constructor Detail

KoalaControl

public KoalaControl()

Creates a new instance of KoalaControl

Method Detail

initiate

public static void initiate(int port)

close

public void close()

gotoMotorPos

public static void gotoMotorPos(int a,
                                int b)

setMotorPos

public static void setMotorPos(int a,
                               int b)

getMotorPos

public static int[] getMotorPos()

getSpeeds

public static int[] getSpeeds()

setSpeeds

public static void setSpeeds(int a,
                             int b)

getSensors

public static int[] getSensors()

turnRobot

public static void turnRobot(int angle)

goRobot

public static void goRobot(int position,
                           int speed)

wayClear

public static boolean wayClear(int[] OldSens)