RKDriveAlgorithm Class Reference

Provides the algorithm needed to convert user input to robot coordinates. More...

#import <RKDriveAlgorithm.h>

Inheritance diagram for RKDriveAlgorithm:

List of all members.

Public Member Functions
(void)	- convertWithCoord1:coord2:coord3:
(void)	- performConversionFinishedAction
Properties
double	angle
double	correctionAngle
double	velocity
id	target
SEL	action
double	velocityScale
double	stopOffset
double	windowDeltaForCoord1
double	windowDeltaForCoord2
double	windowDeltaForCoord3

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Detailed Description

Abstract class for use to convert input coordinates to logical device coordinates. Device coordinates are given by a direction in degrees and a speed from 0.0 to 1.0. An instance of this needs to be set in RKRobotControl.

See also:

RKRobotControl

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Member Function Documentation

- (void) convertWithCoord1:		(double)	coord1
coord2:		(double)	coord2
coord3:		(double)	coord3

Method that translates the input coordinates to the logical device coordinates.

Parameters:

coord1	The first coordinate in the input coordinate's space.
coord2	The second coordinate in the input coordinate's space.
coord3	The third coordinate in the input coordinate's space.

- (void) performConversionFinishedAction

Called in subclass once the conversion has finished to notify a target of completed conversion.

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Property Documentation

- (SEL) action [read, write, assign]

An action to send once the conversion is completed

- (double) angle [read, write, assign]

A heading direction calculated by the algorithm in degrees.

- (double) correctionAngle [read, write, assign]

A correction angle given to the algorithm to modify the heading due to some outside input or event.

- (double) stopOffset [read, write, assign]

Value used to offset the stop point.

- (id) target [read, write, assign]

A target to send an action to once the conversion completed

- (double) velocity [read, write, assign]

A speed from 0.0 to 1.0.

- (double) velocityScale [read, write, assign]

A scale factor from 0.0 to 1.0 which scales the final velocity. The default value is 1.0;

- (double) windowDeltaForCoord1 [read, write, assign]

Window delta value for first coordinate

- (double) windowDeltaForCoord2 [read, write, assign]

Deadzone delta value for second coordinate

- (double) windowDeltaForCoord3 [read, write, assign]

Deadzone delta value for third coordinate

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The documentation for this class was generated from the following file:

• RobotKit/RKDriveAlgorithm.h