robot3
Class Controller

java.lang.Object
  |
  +--robot3.Controller

class Controller

extends java.lang.Object

This is the main class used to control the robot. This is my third version after some trial and error -testing. :) My first version based on the robot replying to the messages, but I realized that because I'm going to have the IR-tower on the robot there's no need for the robot to send anything, as communication is as good as 100% and the robots replies will only disturb the PCs sendings.

The JavaLNP interface by Fabien Bergeret (fabien.bergeret@laposte.net) is used for communicating with the robot via IR-Tower.

I compiled it (so that Matlab can use it) with the following commandline:

javac -g -target 1.1 -d C:\asoinio\java\classes -sourcepath C:\asoinio\java\sources\ *.java

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These messages are also used by the RCX program robot3.c
--

Messages, PC => RCX:
--
R = reset, motor powers to 0 and motors to float
S = stop (brake, full voltage to motors)

Mxaybzc = Set motor state and speed, x=speed for A, a=state for A,
y=speed for B, b=state for B...

Ax = set motor A's power to the value of x (binary, 0..255)
Bx = set motor B's power to the value of x (binary)
Cx = set motor C's power to the value of x (binary)

1x = set motor A state to x, (0=off (float), 1=forward, 2=reverse, 3=brake;
defined in robot2.Controller.[FLOAT|FORWARD|REVERSE|BRAKE] )
2x = set motor B state to x
3x = set motor C state to x

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When the bumper (SENSOR_2) hits something, the robot will also stop (brake).

Field Summary

static int	BRAKE
static boolean	DEBUG
static int	FLOAT
static int	FORWARD
(package private) ControllerInputWindow	inputWindow
(package private) LNPManager	manager
static int	MOTOR_LEVELS
(package private) int[]	motorLevel
static int	MOTORS
(package private) int[]	motorState
(package private) ControllerOutputWindow	outputWindow
static int	REVERSE
(package private) static java.lang.String[]	STATE_NAMES
(package private) static int	STATES

Constructor Summary

Controller(boolean interActive)

Method Summary

void	brakeAll()
void	brakeAllNoSend()
void	decreaseMotorLevel(int motor, boolean allowReverse)
protected int	getInputWindowX()
int	getMotorLevel(int motor)
int	getMotorState(int motor)
void	hide()
void	increaseMotorLevel(int motor, boolean allowReverse)
boolean	isBraking()
static void	main(java.lang.String[] args)
void	setAllMotors(int levelA, int stateA, int levelB, int stateB, int levelC, int stateC)
void	setDebug(boolean debug)
void	setMotorLevel(int motor, int level)
void	setMotorState(int motor, int state)
void	show()

Methods inherited from class java.lang.Object

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

Field Detail

DEBUG

public static boolean DEBUG

MOTOR_LEVELS

public static final int MOTOR_LEVELS

See Also:

Constant Field Values

MOTORS

public static final int MOTORS

See Also:

Constant Field Values

FLOAT

public static final int FLOAT

See Also:

Constant Field Values

FORWARD

public static final int FORWARD

See Also:

Constant Field Values

REVERSE

public static final int REVERSE

See Also:

Constant Field Values

BRAKE

public static final int BRAKE

See Also:

Constant Field Values

STATE_NAMES

static final java.lang.String[] STATE_NAMES

STATES

static final int STATES

outputWindow

ControllerOutputWindow outputWindow

inputWindow

ControllerInputWindow inputWindow

manager

LNPManager manager

motorLevel

int[] motorLevel

motorState

int[] motorState

Constructor Detail

Controller

public Controller(boolean interActive)

Method Detail

hide

public void hide()

show

public void show()

setDebug

public void setDebug(boolean debug)

getMotorLevel

public int getMotorLevel(int motor)

getMotorState

public int getMotorState(int motor)

isBraking

public boolean isBraking()

brakeAll

public void brakeAll()

brakeAllNoSend

public void brakeAllNoSend()

setAllMotors

public void setAllMotors(int levelA,
                         int stateA,
                         int levelB,
                         int stateB,
                         int levelC,
                         int stateC)

setMotorState

public void setMotorState(int motor,
                          int state)

setMotorLevel

public void setMotorLevel(int motor,
                          int level)

increaseMotorLevel

public void increaseMotorLevel(int motor,
                               boolean allowReverse)

decreaseMotorLevel

public void decreaseMotorLevel(int motor,
                               boolean allowReverse)

getInputWindowX

protected int getInputWindowX()

main

public static void main(java.lang.String[] args)