orbotix.robot.base
Class DriveAlgorithm

java.lang.Object
  orbotix.robot.base.DriveAlgorithm

Direct Known Subclasses:

JoyStickDriveAlgorithm, RCDriveAlgorithm, TiltDriveAlgorithm

public abstract class DriveAlgorithm
extends java.lang.Object

Abstract class that defines the behavior for drive algorithms that converts input coordinates to a heading and angle for a device.

Nested Class Summary

static interface

DriveAlgorithm.OnConvertListener Interface for listener to receive conversion notifications.

Field Summary

double	adjustedHeading The calculated heading adjusted for any heading offset present
double[]	deadZoneDelta The deltas in the input coordinates around the stopped position that is still considered zero speed.
double	heading The calculated heading
double	headingOffset The heading offset (in degrees) used to correct the heading to the adjustedHeading.
static int	MAX_COORDINATES Maximum number of input coordinates.
double	speed The calculated speed
double	speedScale A scale factory between 0.0 to 1.0 to limit the speed
double[]	stopPosition The point in the input coordinates that is considered the stopped position.

Constructor Summary

DriveAlgorithm()

Method Summary

abstract void	convert(double coord1, double coord2, double coord3) Converts the input coordinates into a heading and speed.
void	setOnConvertListener(DriveAlgorithm.OnConvertListener listener) Method to register an OnConvertListener.

Methods inherited from class java.lang.Object

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

Field Detail

MAX_COORDINATES

public static final int MAX_COORDINATES

Maximum number of input coordinates.

See Also:

Constant Field Values

heading

public double heading

The calculated heading

headingOffset

public double headingOffset

The heading offset (in degrees) used to correct the heading to the adjustedHeading. This is a relative offset based on the original "forward" direction (of the device, not the robot) set during a calibration.

adjustedHeading

public double adjustedHeading

The calculated heading adjusted for any heading offset present

speed

public double speed

The calculated speed

speedScale

public double speedScale

A scale factory between 0.0 to 1.0 to limit the speed

stopPosition

public double[] stopPosition

The point in the input coordinates that is considered the stopped position.

deadZoneDelta

public double[] deadZoneDelta

The deltas in the input coordinates around the stopped position that is still considered zero speed.

Constructor Detail

DriveAlgorithm

public DriveAlgorithm()

Method Detail

setOnConvertListener

public void setOnConvertListener(DriveAlgorithm.OnConvertListener listener)

Method to register an OnConvertListener.

Parameters:

listener - A OnConvertListener object.

convert

public abstract void convert(double coord1,
                             double coord2,
                             double coord3)

Converts the input coordinates into a heading and speed. Input coordinates are dependent on the method used, for example, they can be accelerometer coordinates or a point in a view.

Parameters:

coord1 - First coordinate in the input coordinates.

coord2 - Second coordinate in the input coordinates.

coord3 - Third coordinate in the input coordinates.