RKRobotControl Class Reference

Objects of this class use a connection to manipulating a robot. More...

#import <RKRobotControl.h>

List of all members.

Public Member Functions
(id)	- initWithRobot:
(void)	- openConnection
(void)	- closeConnection
(void)	- stopMoving
(void)	- driveWithCoord1:coord2:coord3:
(void)	- startCalibration
(void)	- stopCalibrated:
(void)	- rotateToHeading:
(void)	- rollAtHeading:velocity:
(void)	- startControlledBoost
(void)	- cancelControlledBoost
(void)	- resetDeadZoneSize
(void)	- jump
Properties
RKDeviceConnection *	deviceConnection
RKDriveAlgorithm *	driveAlgorithm
float	deadZoneSize
double	stopOffset
float	boostTimeScale
float	controlledBoostVelocity
BOOL	calibrating

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Detailed Description

This class is used to control a robot. It's main responsibility is to high order control methods like converting input coordinates to robotic coordinates to send to the device.

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Member Function Documentation

- (void) cancelControlledBoost

Cancels the currently running controlled boost so that the velocity is no longer stuck at the boosted level. This command is only effective if the robot is currently in a controlled boost mode.

- (void) closeConnection

Closes communications with the robot.

- (void) driveWithCoord1:		(double)	coord1
coord2:		(double)	coord2
coord3:		(double)	coord3

Method used to drive a robot with a set coordinates. Coordinates are unspecified as the can be angular or scaler coordinates. The coordinates are dependent on the drive method used.

Parameters:

coord1	The first parameter in the coordinate system.
coord2	The second parameter in the coordinate system.
coord3	The third parameter in the coordinate system.

- (id) initWithRobot:

(RKRobot *)

aRobot

Initializer that setups control of a robot.

Parameters:

aRobot

The RKRobot instance to control.

Returns:

The initialized instance or nil if the robot can't be controlled.

- (void) jump

Uncontrolled boost to give a Sphero enough momentum to go over jumps.

- (void) openConnection

Opens the connection by seting up communication streams, and testing that the robot communications with some initial startup commands.

- (void) resetDeadZoneSize

Resets the dead zone to the default value.

- (void) rollAtHeading:		(float)	angle
velocity:		(float)	velocity

Tells the robot to move in the direction given by the angle, and at a given velocity. This method will honor the dead zone.

Parameters:

angle	The direction given by an angle between 0° and 360°.
velocity	A velocity between 0.0 and 1.0.

- (void) rotateToHeading:

(float)

angle

Method to rotate Sphero to a heading without moving the ball. Used during calibration.

Parameters:

angle

A heading angle between 0° to 360°

- (void) startCalibration

Starts the calibration mode for Sphero. This mainly sets up the calibration LED.

- (void) startControlledBoost

Tells the robot to move at the given velocity for the boost time. During the time interval, the user can control the robot's direction but the velocity is fixed.

- (void) stopCalibrated:

(BOOL)

calibrate

Stop calibration mode for Sphero.

Parameters:

calibrate

YES to calibrate for new heading, and NO to stop calibration without setting calibration on the ball.

- (void) stopMoving

Stops the device from moving.

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Property Documentation

- (float) boostTimeScale [read, write, assign]

The fraction of 25.5 seconds for a boost. Default value is 1.0.

See also:

- jump

- (BOOL) calibrating [read, assign]

Property for clients to check that the robot is being calibrated.

Returns:

YES if the robot is being calibrated, otherwise NO if in normal mode.

- (float) controlledBoostVelocity [read, write, assign]

Property for assigning a velocity for controlled boosts.

- (float) deadZoneSize [read, write, assign]

Provides a deadzone in terms of a fraction of full velocity.

- (RKDeviceConnection*) deviceConnection [read, assign]

Accessor to the RKDeviceConnection for calling direct commands to the device

- (RKDriveAlgorithm*) driveAlgorithm [read, write, retain]

Property to set and access the drive algorithm. A RKSteeringWheelDriveMethod is created by default.

See also:

RKDriveAlgorithm

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

Property for setting an offset to adjust what is consider a stop point for the input. Depends on the drive method used.

See also:

RKDriveMethod

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

• RobotKit/RKRobotControl.h