uk.ac.ed.inf.sdp2012.group7.control
Class RobotControl

java.lang.Object
  uk.ac.ed.inf.sdp2012.group7.control.RobotControl

All Implemented Interfaces:

ConstantsReuse

public class RobotControl
extends java.lang.Object
implements ConstantsReuse

This class holds the geometric location of our robot but is also responsible for communicating with it.

Nested Class Summary

Nested classes/interfaces inherited from interface uk.ac.ed.inf.sdp2012.group7.control.ConstantsReuse

ConstantsReuse.OpCodes

Field Summary

static org.apache.log4j.Logger

logger

Fields inherited from interface uk.ac.ed.inf.sdp2012.group7.control.ConstantsReuse

ROBOT_MAC, ROBOT_NAME

Constructor Summary

RobotControl()

Method Summary

void	beep() Commands the robot to make a noise
void	changeSpeed(int speed) Changes the speed the robot is travelling at
void	circleWithRadius(int radius, boolean arcLeft) Commands the robot to move forwards on an arc with a certain radius from the centre of the robot
boolean	isConnected()
void	kick() Commands the robot to kick
void	logResponse(ConstantsReuse.OpCodes response)
void	moveBackward() Commands the robot to move backward
void	moveBackward(int speed) Commands the robot to move backward at a speed
void	moveBackwardDistance(int distance) Commands the robot to move backward
void	moveForward() Commands the robot to move forward
void	moveForward(int speed)
void	moveForwardDistance(int distance) Commands the robot to move forwards a certain distance
void	rotateBy(double radians)
void	rotateBy(double radians, boolean block)
void	rotateBy(double radians, boolean block, boolean left) Rotates the robot by the given number of radians
void	setConnected(boolean isConnected)
boolean	startCommunications() This method initialises the connection and starts the thread which sends data to the robot
void	startMatch() Commands the robot to move forward indefinitely and start odometry from its initial position (if the bluetooth connection is lost, it'll try to move back to the initial position)
void	stop() Commands the robot to stop where it is
void	stopCommunications() Stops the connection with the Robot
void	stopMatch() Commands the robot to stop movement and recording odometry

Methods inherited from class java.lang.Object

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

Field Detail

logger

public static final org.apache.log4j.Logger logger

Constructor Detail

RobotControl

public RobotControl()

Method Detail

startCommunications

public boolean startCommunications()

This method initialises the connection and starts the thread which sends data to the robot

Returns:

True if the connection has been established, false otherwise

stopCommunications

public void stopCommunications()

Stops the connection with the Robot

changeSpeed

public void changeSpeed(int speed)

Changes the speed the robot is travelling at

Parameters:

speed -

moveForward

public void moveForward()

Commands the robot to move forward

moveForward

public void moveForward(int speed)

moveForwardDistance

public void moveForwardDistance(int distance)

Commands the robot to move forwards a certain distance

Parameters:

distance - Measured in cm

moveBackward

public void moveBackward()

Commands the robot to move backward

moveBackward

public void moveBackward(int speed)

Commands the robot to move backward at a speed

moveBackwardDistance

public void moveBackwardDistance(int distance)

Commands the robot to move backward

stop

public void stop()

Commands the robot to stop where it is

kick

public void kick()

Commands the robot to kick

rotateBy

public void rotateBy(double radians,
                     boolean block,
                     boolean left)

Rotates the robot by the given number of radians

Parameters:

radians -

rotateBy

public void rotateBy(double radians,
                     boolean block)

rotateBy

public void rotateBy(double radians)

circleWithRadius

public void circleWithRadius(int radius,
                             boolean arcLeft)

Commands the robot to move forwards on an arc with a certain radius from the centre of the robot

Parameters:

radius -

arcLeft - If true the robot will go left, otherwise will go right

beep

public void beep()

Commands the robot to make a noise

startMatch

public void startMatch()

Commands the robot to move forward indefinitely and start odometry from its initial position (if the bluetooth connection is lost, it'll try to move back to the initial position)

stopMatch

public void stopMatch()

Commands the robot to stop movement and recording odometry

setConnected

public void setConnected(boolean isConnected)

isConnected

public boolean isConnected()

logResponse

public void logResponse(ConstantsReuse.OpCodes response)