orbotix.robot.base
Class TiltDriveAlgorithm

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

public class TiltDriveAlgorithm
extends DriveAlgorithm

Converts accelerometer coordinates into heading and speed values. Angles are calculated from the accelerometer coordinates to get the angle the device is tilted from the device laying flat. The angle from the positive x-axis is used for the heading and the tilt angle is up to the MAXIMUM_TILT angle is used for speed. The stopPositon values are consider as radians from the device laying flat. The deadZoneDelta values are the delta values in the accelerometer values that are still consider zero.

See Also:

DriveAlgorithm

Nested Class Summary

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

DriveAlgorithm.OnConvertListener

Field Summary

static double

MAXIMUM_TILT

Fields inherited from class orbotix.robot.base.DriveAlgorithm

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

Constructor Summary

TiltDriveAlgorithm()

Method Summary

void	convert(double x, double y, double z) Converts the input coordinates into a heading and speed.

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

Field Detail

MAXIMUM_TILT

public static final double MAXIMUM_TILT

See Also:

Constant Field Values

Constructor Detail

TiltDriveAlgorithm

public TiltDriveAlgorithm()

Method Detail

convert

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

Description copied from class: DriveAlgorithm

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.

Specified by:

convert in class DriveAlgorithm

Parameters:

x - First coordinate in the input coordinates.

y - Second coordinate in the input coordinates.

z - Third coordinate in the input coordinates.