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## PER
Class Diagnostic_1

    java.lang.Object
      java.awt.Component
          java.awt.Container
              java.awt.Window
                  java.awt.Frame
                      javax.swing.JFrame
                          PER.Diagnostic_1

All Implemented Interfaces:
  javax.accessibility.Accessible, java.awt.image.ImageObserver, java.awt.MenuContainer, javax.swing.RootPaneContainer, java.io.Serializable, javax.swing.WindowConstants

public class Diagnostic_1
extends javax.swing.JFrame

Interface program that allows one to operate a rover. Diagnostic.java is useful for testing that a rover is functioning properly because it allows one to access all modes of rover operation including Ackerman driving, Omnidirectional driving, turning, taking pictures, pan, tilt, and black light control. The Diagnostic program can also be used to teleoperate a rover.

Before you can send the rover commands, you must connect to the robot by entering the IP address and hitting Connect. The "Result of last Action:" line will say "Connected" if you have connected successfully. After you have connected, you can turn the rover's UV light on and off by selecting the appropriate radio button, see the current IR reading and battery voltage by hitting the Update button, or watch the rover find a rock by hitting the Find Rock button. The Stop Action button will stop the rover while it is finding a rock. You can also take pictures at different head postions by entering values for Pan and Tilt and then hitting the Take Picture button. Pan values must be between [-180, 180] with negative values to the right. Tilt values must be between [-50, 90] with negative values meaning down.

You can also drive the robot in different modes. Select the radio button next to Ackerman, Omnidirectional, or Turn and then click in the blue outlined box. Dragging the mouse around inside the box will change the speed and direction of the rover. When you stop pressing the mouse, the rover will stop driving.

If you select the Auto-Update toggle button, the rover will take pictures as it drives. This is useful for teleoperation. The rover will face in the direction of travel while driving or forward while turning. At slow speeds the rover's head is angled down. As the speed increases the head angle will increase.

See Also:
  Serialized Form

Nested Class Summary
`class` | `Diagnostic_1.FindRockThread`
`class` | `Diagnostic_1.SendCommands`

Nested classes inherited from class javax.swing.JFrame
`javax.swing.JFrame.AccessibleJFrame`

Nested classes inherited from class java.awt.Frame
`java.awt.Frame.AccessibleAWTFrame`

Nested classes inherited from class java.awt.Window
`java.awt.Window.AccessibleAWTWindow`

Nested classes inherited from class java.awt.Container
`java.awt.Container.AccessibleAWTContainer`

Nested classes inherited from class java.awt.Component
`java.awt.Component.AccessibleAWTComponent, java.awt.Component.BltBufferStrategy, java.awt.Component.FlipBufferStrategy`

Field Summary

Fields inherited from class javax.swing.JFrame
`accessibleContext, EXIT_ON_CLOSE, rootPane, rootPaneCheckingEnabled`

Fields inherited from class java.awt.Frame
`CROSSHAIR_CURSOR, DEFAULT_CURSOR, E_RESIZE_CURSOR, HAND_CURSOR, ICONIFIED, MAXIMIZED_BOTH, MAXIMIZED_HORIZ, MAXIMIZED_VERT, MOVE_CURSOR, N_RESIZE_CURSOR, NE_RESIZE_CURSOR, NORMAL, NW_RESIZE_CURSOR, S_RESIZE_CURSOR, SE_RESIZE_CURSOR, SW_RESIZE_CURSOR, TEXT_CURSOR, W_RESIZE_CURSOR, WAIT_CURSOR`

Fields inherited from class java.awt.Component
`BOTTOM_ALIGNMENT, CENTER_ALIGNMENT, LEFT_ALIGNMENT, RIGHT_ALIGNMENT, TOP_ALIGNMENT`

Fields inherited from interface javax.swing.WindowConstants
`DISPOSE_ON_CLOSE, DO_NOTHING_ON_CLOSE, HIDE_ON_CLOSE`

Fields inherited from interface java.awt.image.ImageObserver
`ABORT, ALLBITS, ERROR, FRAMEBITS, HEIGHT, PROPERTIES, SOMEBITS, WIDTH`

Constructor Summary
`Diagnostic_1()` Creates new form Diagnostic

Method Summary
`static void` | `main(java.lang.String[] args)`
`void` | `paint(java.awt.Graphics g)`
`protected void` | `redrawIRTF()`

Methods inherited from class javax.swing.JFrame
`addImpl, createRootPane, frameInit, getAccessibleContext, getContentPane, getDefaultCloseOperation, getGlassPane, getJMenuBar, getLayeredPane, getRootPane, isDefaultLookAndFeelDecorated, isRootPaneCheckingEnabled, paramString, processWindowEvent, remove, setContentPane, setDefaultCloseOperation, setDefaultLookAndFeelDecorated, setGlassPane, setJMenuBar, setLayeredPane, setLayout, setRootPane, setRootPaneCheckingEnabled, update`

Methods inherited from class java.awt.Frame
`addNotify, finalize, getCursorType, getExtendedState, getFrames, getIconImage, getMaximizedBounds, getMenuBar, getState, getTitle, isResizable, isUndecorated, remove, removeNotify, setCursor, setExtendedState, setIconImage, setMaximizedBounds, setMenuBar, setResizable, setState, setTitle, setUndecorated`

Methods inherited from class java.awt.Window
`addPropertyChangeListener, addPropertyChangeListener, addWindowFocusListener, addWindowListener, addWindowStateListener, applyResourceBundle, applyResourceBundle, createBufferStrategy, createBufferStrategy, dispose, getBufferStrategy, getFocusableWindowState, getFocusCycleRootAncestor, getFocusOwner, getFocusTraversalKeys, getGraphicsConfiguration, getInputContext, getListeners, getLocale, getMostRecentFocusOwner, getOwnedWindows, getOwner, getToolkit, getWarningString, getWindowFocusListeners, getWindowListeners, getWindowStateListeners, hide, isActive, isFocusableWindow, isFocusCycleRoot, isFocused, isShowing, pack, postEvent, processEvent, processWindowFocusEvent, processWindowStateEvent, removeWindowFocusListener, removeWindowListener, removeWindowStateListener, setCursor, setFocusableWindowState, setFocusCycleRoot, setLocationRelativeTo, show, toBack, toFront`

Methods inherited from class java.awt.Container
`add, add, add, add, add, addContainerListener, applyComponentOrientation, areFocusTraversalKeysSet, countComponents, deliverEvent, doLayout, findComponentAt, findComponentAt, getAlignmentX, getAlignmentY, getComponent, getComponentAt, getComponentAt, getComponentCount, getComponents, getContainerListeners, getFocusTraversalPolicy, getInsets, getLayout, getMaximumSize, getMinimumSize, getPreferredSize, insets, invalidate, isAncestorOf, isFocusCycleRoot, isFocusTraversalPolicySet, layout, list, list, locate, minimumSize, paintComponents, preferredSize, print, printComponents, processContainerEvent, remove, removeAll, removeContainerListener, setFocusTraversalKeys, setFocusTraversalPolicy, setFont, transferFocusBackward, transferFocusDownCycle, validate, validateTree`

Methods inherited from class java.awt.Component
`action, add, addComponentListener, addFocusListener, addHierarchyBoundsListener, addHierarchyListener, addInputMethodListener, addKeyListener, addMouseListener, addMouseMotionListener, addMouseWheelListener, bounds, checkImage, checkImage, coalesceEvents, contains, contains, createImage, createImage, createVolatileImage, createVolatileImage, disable, disableEvents, dispatchEvent, enable, enable, enableEvents, enableInputMethods, firePropertyChange, firePropertyChange, firePropertyChange, getBackground, getBounds, getBounds, getColorModel, getComponentListeners, getComponentOrientation, getCursor, getDropTarget, getFocusListeners, getFocusTraversalKeysEnabled, getFont, getFontMetrics, getForeground, getGraphics, getHeight, getHierarchyBoundsListeners, getHierarchyListeners, getIgnoreRepaint, getInputMethodListeners, getInputMethodRequests, getKeyListeners, getLocation, getLocation, getLocationOnScreen, getMouseListeners, getMouseMotionListeners, getMouseWheelListeners, getName, getParent, getPeer, getPropertyChangeListeners, getPropertyChangeListeners, getSize, getSize, getTreeLock, getWidth, getX, getY, gotFocus, handleEvent, hasFocus, imageUpdate, inside, isBackgroundSet, isCursorSet, isDisplayable, isDoubleBuffered, isEnabled, isFocusable, isFocusOwner, isFocusTraversable, isFontSet, isForegroundSet, isLightweight, isOpaque, isValid, isVisible, keyDown, keyUp, list, list, list, location, lostFocus, mouseDown, mouseDrag, mouseEnter, mouseExit, mouseMove, mouseUp, move, nextFocus, paintAll, prepareImage, prepareImage, printAll, processComponentEvent, processFocusEvent, processHierarchyBoundsEvent, processHierarchyEvent, processInputMethodEvent, processKeyEvent, processMouseEvent, processMouseMotionEvent, processMouseWheelEvent, removeComponentListener, removeFocusListener, removeHierarchyBoundsListener, removeHierarchyListener, removeInputMethodListener, removeKeyListener, removeMouseListener, removeMouseMotionListener, removeMouseWheelListener, removePropertyChangeListener, removePropertyChangeListener, repaint, repaint, repaint, repaint, requestFocus, requestFocus, requestFocusInWindow, requestFocusInWindow, reshape, resize, resize, setBackground, setBounds, setBounds, setComponentOrientation, setDropTarget, setEnabled, setFocusable, setFocusTraversalKeysEnabled, setForeground, setIgnoreRepaint, setLocale, setLocation, setLocation, setName, setSize, setSize, setVisible, show, size, toString, transferFocus, transferFocusUpCycle`

Methods inherited from class java.lang.Object
`clone, equals, getClass, hashCode, notify, notifyAll, wait, wait, wait`

Methods inherited from interface java.awt.MenuContainer
`getFont, postEvent`

Constructor Detail

### Diagnostic_1

    public Diagnostic_1()

  Creates new form Diagnostic

Method Detail

### redrawIRTF

    protected void redrawIRTF()

### main

    public static void main(java.lang.String[] args)

  Parameters:
    `args` - the command line arguments

### paint

    public void paint(java.awt.Graphics g)

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