RKRollCommand Class Reference

Class to send roll commands to change a robot's heading and speed. More...

#import <RKRollCommand.h>

Inheritance diagram for RKRollCommand:

List of all members.

Public Member Functions
(id)	- initWithHeading:velocity:
Static Public Member Functions
(void)	+ sendCommandWithHeading:velocity:
(void)	+ sendCommandWithHeading:velocity:stopped:
(void)	+ sendStop
(void)	+ resendCurrent
(void)	+ setStickyVelocity:
(void)	+ unsetStickyVelocity
(BOOL)	+ isVelocityStuck
(float)	+ currentHeading
(float)	+ currentVelocity
(BOOL)	+ isCurrentlyStopped
Properties
float	heading
float	velocity
BOOL	stop

---

Detailed Description

Nonmutable class that encapsulates a roll command. This command takes an angle and velocity which the robot uses to stear to this new heading and speed.

See also:

RKRollResponse

---

Member Function Documentation

+ (float) currentHeading

The current heading the robot acknoledged as it's heading.

+ (float) currentVelocity

The current velocity the robot acknowledged as it's velocity.

- (id) initWithHeading:		(float)	heading
velocity:		(float)	velocity

Initializer that sets the heading and velocity for the command.

See also:

+ sendCommandWithHeading:velocity:

Parameters:

heading	The angle in degrees from 0 to 360 for the robot to head to.
velocity	The velocity from 0.0, no motion, to 1.0, full velocity for the robot to travel at.

Returns:

The initialized instance.

+ (BOOL) isCurrentlyStopped

Indicates if the robot has acknowledged a full stop.

+ (BOOL) isVelocityStuck

Indicates if an new instance of RKRollCommand will be stuck to a set velocity.

+ (void) resendCurrent

Resend the current heading and velocity values.

+ (void) sendCommandWithHeading:		(float)	heading
velocity:		(float)	velocity

Sends a roll command to the robot for the heading and velocity.

Parameters:

heading	The angle in degrees from 0 to 360 for the robot to head to.
velocity	The velocity from 0.0, no motion, to 1.0, full velocity for the robot to travel at.

+ (void) sendCommandWithHeading:		(float)	heading
velocity:		(float)	velocity
stopped:		(BOOL)	state

Deprecated:

Use sendCommandWithHeading:velocity: to change the robot's heading and velocity, and use sendStop for a full stop.

+ (void) sendStop

Stops the robot in it's tracks

+ (void) setStickyVelocity:

(float)

velocity

This sets a velocity that sticks for all instances of RKRollCommand.

+ (void) unsetStickyVelocity

Clears the sticky velocity, so all new instances of RKRollCommand use the velocity parameter.

---

Property Documentation

- (float) heading [read, assign]

The angle in degrees set for the heading.

- (BOOL) stop [read, write, assign]

Indicates if this command will stop the robot.

- (float) velocity [read, assign]

The new velocity for the robot.

---

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

• RobotKit/RKRollCommand.h