orbotix.robot.base
Class JoyStickDriveAlgorithm

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

public class JoyStickDriveAlgorithm
extends DriveAlgorithm

Objects of this class convert position of a view bounds into heading and speeds. The center of the area is consider the stop position and a speed and heading are calculated from it. The heading is calculated with 0 in the upwards y direction similar to a compass. Speed is calculated as the magnitude from the center, and normalized to a maximum of 1.0. The speed and heading therefore define a circular/elliptical area constrained to a rectangle defined by the controls rectangular area.

Nested Class Summary

Nested classes/interfaces inherited from class orbotix.robot.base.DriveAlgorithm

DriveAlgorithm.OnConvertListener

Field Summary

Fields inherited from class orbotix.robot.base.DriveAlgorithm

adjustedHeading, deadZoneDelta, heading, headingOffset, MAX_COORDINATES, speed, speedScale, stopPosition

Constructor Summary

JoyStickDriveAlgorithm(double padWidth, double padHeight)
Constructor which takes the rectangular area of the control used for calculating the speed and heading values.

Method Summary

void	convert(double x, double y, double unused) Converts a x,y position in the joy stick control's area into a speed and heading.

Methods inherited from class orbotix.robot.base.DriveAlgorithm

setOnConvertListener

Methods inherited from class java.lang.Object

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

Constructor Detail

JoyStickDriveAlgorithm

public JoyStickDriveAlgorithm(double padWidth,
                              double padHeight)

Constructor which takes the rectangular area of the control used for calculating the speed and heading values.

Parameters:

padWidth - The joy stick pad width.

padHeight - The joy stick pad height.

Method Detail

convert

public void convert(double x,
                    double y,
                    double unused)

Converts a x,y position in the joy stick control's area into a speed and heading.

Specified by:

convert in class DriveAlgorithm

Parameters:

x - First coordinate in the input coordinates.

y - Second coordinate in the input coordinates.

unused - Third coordinate in the input coordinates.