swarm.robot.helpers

Class MotionController

java.lang.Object

swarm.robot.helpers.MotionController

public class MotionController
extends java.lang.Object

The class that calculate the robot motions using mathematical models

Author:

Nuwan Jaliyagoda

Constructor Summary

Constructors

Constructor and Description
MotionController(Coordinate coordinate) MotionController class

Method Summary

Modifier and Type	Method and Description
void	move(int leftSpeed, int rightSpeed) Wrapper for void move(int, int, int)
void	move(int leftSpeed, int rightSpeed, double duration) The core move implementation, using Dead Reckoning algorithm
void	move(int leftSpeed, int rightSpeed, int duration) Wrapper for void move(int, int, double)
void	moveDistance(int speed, double distance) Move the robot by given speed for a given distance
void	moveDistance(int speed, int distance) Move the robot by given speed for a given distance
void	rotate(int speed) Wrapper for void rotate(int, double)
void	rotate(int speed, double duration) Rotate the robot in given speed for a given duration
void	rotate(int speed, int duration) Wrapper for void rotate(int, double)
void	rotateDegree(int speed, float degree) Rotate to a given relative angle in degrees, with a given speed
void	rotateRadians(int speed, float radians) Rotate to a given relative angle in radians, with a given speed

Methods inherited from class java.lang.Object

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

Constructor Detail

MotionController

public MotionController(Coordinate coordinate)

MotionController class

Parameters:

coordinate - Coordinate object

See Also:

Coordinate

Method Detail

move

public void move(int leftSpeed,
                 int rightSpeed)

Wrapper for void move(int, int, int)

Throws:

MotionControllerException

See Also:

move(int, int, int)

move

public void move(int leftSpeed,
                 int rightSpeed,
                 int duration)

Wrapper for void move(int, int, double)

Throws:

MotionControllerException

See Also:

move(int, int, double)

rotate

public void rotate(int speed)

Wrapper for void rotate(int, double)

Throws:

MotionControllerException

See Also:

rotate(int, double)

rotate

public void rotate(int speed,
                   int duration)

Wrapper for void rotate(int, double)

Throws:

MotionControllerException

See Also:

rotate(int, double)

rotate

public void rotate(int speed,
                   double duration)

Rotate the robot in given speed for a given duration

Parameters:

speed - the value for speed, [ROBOT_SPEED_MIN, ROBOT_SPEED_MAX]

duration - the duration, in ms

Throws:

MotionControllerException

rotateRadians

public void rotateRadians(int speed,
                          float radians)

Rotate to a given relative angle in radians, with a given speed

Parameters:

speed - the value for speed, [ROBOT_SPEED_MIN, ROBOT_SPEED_MAX]

degree - the relative degree to be rotate, positive means CW, [-180, 180]

Throws:

MotionControllerException

rotateDegree

public void rotateDegree(int speed,
                         float degree)

Rotate to a given relative angle in degrees, with a given speed

Parameters:

speed - the value for speed, [ROBOT_SPEED_MIN, ROBOT_SPEED_MAX]

degree - the relative degree to be rotated, positive means CW, [-180, 180]

Throws:

MotionControllerException

moveDistance

public void moveDistance(int speed,
                         int distance)

Move the robot by given speed for a given distance

Parameters:

speed - the value for speed, [±ROBOT_SPEED_MIN, ±ROBOT_SPEED_MAX]

distance - the distance as integer

Throws:

MotionControllerException

moveDistance

public void moveDistance(int speed,
                         double distance)

Move the robot by given speed for a given distance

Parameters:

speed - the value for speed, [±ROBOT_SPEED_MIN, ±ROBOT_SPEED_MAX]

distance - the distance as double, > 0

Throws:

MotionControllerException

move

public void move(int leftSpeed,
                 int rightSpeed,
                 double duration)

The core move implementation, using Dead Reckoning algorithm

Parameters:

leftSpeed - Left motor speed

rightSpeed - Right motor speed

duration - Duration, in ms

Throws:

MotionControllerException