com.sun.robot.humanoid
Class Humanoid

java.lang.Object
  com.sun.robot.Robot
      com.sun.robot.humanoid.Humanoid

public class Humanoid
extends Robot

Provides access to WowWee Robotics RS Media robot macros, servos and sensors.

Field Summary

Servo	ARM_LEFT_SERVO Left Arm Grasping Servo.
Servo	ARM_RIGHT_SERVO Right Arm Grasping Servo.
Audio	AUDIO Audio recording and playback.
Camera	CAMERA Snapshots, video recording and playback.
Sensor	FACE_DOWN_TILT The robot lying face down.
Head	HEAD Head control object.
Servo	HEAD_LR_SERVO Used for Head Left, and Right movement.
Servo	HEAD_UP_DN_SERVO Used for Head Up, Down movement.
Servo	HEAD_UPPER_BODY Up, Down, Left, Right movement.
Sensor	HEARING_CENTER Something is heard in front of the robot.
Sensor	HEARING_LEFT Something is heard on the left side of the robot.
Sensor	HEARING_RIGHT Something is heard on the right side of the robot.
Interact	INTERACT Interaction macros with other robots.
IRSensor	IR_CENTER_CLOSE Something is detected nearby in front of the robot.
IRSensor	IR_CENTER_FAR Something is detected far away in front of the robot.
IRSensor	IR_FLINCH Something is very close ot the robot.
IRSensor	IR_LEFT_CLOSE Something is detected nearby on the left side of the robot.
IRSensor	IR_LEFT_FAR Something is detected far away on the left side of the robot.
IRSensor	IR_RIGHT_CLOSE Something is detected far away on the right side of the robot.
IRSensor	IR_RIGHT_FAR Something is detected far away on the right side of the robot.
Arm	LEFT_ARM Left arm control object.
Servo	LEFT_LEG_SERVO Forward, Backward movement.
Personality	PERSONALITYMACRO Animatronic macros.
Arm	RIGHT_ARM Right arm control object.
Servo	RIGHT_LEG_SERVO Forward, Backward movement.
Servo	SHOULDER_LEFT_SERVO Up, Down movement.
Servo	SHOULDER_RIGHT_SERVO Up, Down movement.
Sensor	TOUCH_LEFT_FOOT_BACK Something is touching the back of the robot's left foot.
Sensor	TOUCH_LEFT_FOOT_FRONT Something is touching the front of the robot's left foot.
Sensor	TOUCH_RIGHT_FOOT_BACK Something is touching the back of the robot's right foot.
Sensor	TOUCH_RIGHT_FOOT_FRONT Something is touching the front of the robot's right foot.
Vision	VISION Vision color and object tracking system.
Servo	WAIST_LR_SERVO Left and Right movement.
Servo	WAIST_SLR_SERVO Tilt Left or Right.
Servo	WAIST_UP_DN_SERVO Up, Down movement.
Walk	WALK Walking control object.

Fields inherited from class com.sun.robot.Robot

sensors, servos

Method Summary

boolean	enableLED(boolean on) LED.
static Humanoid	getInstance() Returns a singleton instance of Humanoid
void	restoreDefaultPosition() Restores the robot to it's default body posture.
void	shutdown() Shuts down the robot.
void	sleep(int timeout) Cause the robot to "sleep" for the specified time.
boolean	stop() Stop all Robot movement.
boolean	stopAllMotors() Stops all motors.
void	waitUntilStop() Wait until the current macro or servo movement completes.
void	waitUntilStop(int maxWait) Wait until the current macro or servo movement completes.

Methods inherited from class com.sun.robot.Robot

addSensor, addServo, getSensor, getSensors, getServo, getServos

Methods inherited from class java.lang.Object

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

Field Detail

PERSONALITYMACRO

public final Personality PERSONALITYMACRO

Animatronic macros.

INTERACT

public final Interact INTERACT

Interaction macros with other robots.

LEFT_ARM

public final Arm LEFT_ARM

Left arm control object.

HEAD

public final Head HEAD

Head control object.

RIGHT_ARM

public final Arm RIGHT_ARM

Right arm control object.

WALK

public final Walk WALK

Walking control object.

VISION

public final Vision VISION

Vision color and object tracking system.

HEARING_LEFT

public final Sensor HEARING_LEFT

Something is heard on the left side of the robot.

HEARING_CENTER

public final Sensor HEARING_CENTER

Something is heard in front of the robot.

HEARING_RIGHT

public final Sensor HEARING_RIGHT

Something is heard on the right side of the robot.

IR_LEFT_CLOSE

public final IRSensor IR_LEFT_CLOSE

Something is detected nearby on the left side of the robot.

IR_LEFT_FAR

public final IRSensor IR_LEFT_FAR

Something is detected far away on the left side of the robot.

IR_CENTER_CLOSE

public final IRSensor IR_CENTER_CLOSE

Something is detected nearby in front of the robot.

IR_CENTER_FAR

public final IRSensor IR_CENTER_FAR

Something is detected far away in front of the robot.

IR_RIGHT_CLOSE

public final IRSensor IR_RIGHT_CLOSE

Something is detected far away on the right side of the robot.

IR_RIGHT_FAR

public final IRSensor IR_RIGHT_FAR

Something is detected far away on the right side of the robot.

IR_FLINCH

public final IRSensor IR_FLINCH

Something is very close ot the robot.

TOUCH_LEFT_FOOT_FRONT

public final Sensor TOUCH_LEFT_FOOT_FRONT

Something is touching the front of the robot's left foot.

TOUCH_LEFT_FOOT_BACK

public final Sensor TOUCH_LEFT_FOOT_BACK

Something is touching the back of the robot's left foot.

TOUCH_RIGHT_FOOT_FRONT

public final Sensor TOUCH_RIGHT_FOOT_FRONT

Something is touching the front of the robot's right foot.

TOUCH_RIGHT_FOOT_BACK

public final Sensor TOUCH_RIGHT_FOOT_BACK

Something is touching the back of the robot's right foot.

FACE_DOWN_TILT

public final Sensor FACE_DOWN_TILT

The robot lying face down.

AUDIO

public final Audio AUDIO

Audio recording and playback.

CAMERA

public final Camera CAMERA

Snapshots, video recording and playback.

HEAD_UP_DN_SERVO

public final Servo HEAD_UP_DN_SERVO

Used for Head Up, Down movement. Positions 0-3 allowed.

HEAD_LR_SERVO

public final Servo HEAD_LR_SERVO

Used for Head Left, and Right movement. Positions 0-7 allowed.

SHOULDER_LEFT_SERVO

public final Servo SHOULDER_LEFT_SERVO

Up, Down movement. Positions 0-32 allowed.

SHOULDER_RIGHT_SERVO

public final Servo SHOULDER_RIGHT_SERVO

Up, Down movement. Positions 0-32 allowed.

ARM_LEFT_SERVO

public final Servo ARM_LEFT_SERVO

Left Arm Grasping Servo. Positions 0-3 allowed.

ARM_RIGHT_SERVO

public final Servo ARM_RIGHT_SERVO

Right Arm Grasping Servo. Positions 0-3 allowed.

WAIST_UP_DN_SERVO

public final Servo WAIST_UP_DN_SERVO

Up, Down movement. Positions 0-32 allowed.

WAIST_LR_SERVO

public final Servo WAIST_LR_SERVO

Left and Right movement. Positions 0-32 allowed.

WAIST_SLR_SERVO

public final Servo WAIST_SLR_SERVO

Tilt Left or Right. Positions 0 (Left) or 2 (Right) allowed.

No position data is available for this servo.

LEFT_LEG_SERVO

public final Servo LEFT_LEG_SERVO

Forward, Backward movement. Positions 0 (forward) or 2 (back) allowed.

No position data is available for this servo.

RIGHT_LEG_SERVO

public final Servo RIGHT_LEG_SERVO

Forward, Backward movement. Positions 0 (forward) or 2 (back) allowed.

No position data is available for this servo.

HEAD_UPPER_BODY

public final Servo HEAD_UPPER_BODY

Up, Down, Left, Right movement. Positions 0-8 allowed.

No position data is available for this servo.

Method Detail

getInstance

public static Humanoid getInstance()

Returns a singleton instance of Humanoid

Returns:

a singleton instance of Humanoid

restoreDefaultPosition

public void restoreDefaultPosition()

Restores the robot to it's default body posture. The robot should be placed in this posture whenever it is idle and not executing commands.

For consistent behaviour it is also a good idea to restore the robot to it's default posture before executing any macros or multi-step servo programs.

Specified by:

restoreDefaultPosition in class Robot

sleep

public void sleep(int timeout)

Cause the robot to "sleep" for the specified time.

Specified by:

sleep in class Robot

Parameters:

timeout - The amount of time to sleep in relative milliseconds.

waitUntilStop

public void waitUntilStop()

Wait until the current macro or servo movement completes.

waitUntilStop

public void waitUntilStop(int maxWait)

Wait until the current macro or servo movement completes.

Parameters:

maxWait - time in milliseconds

stop

public boolean stop()

Stop all Robot movement. This also stops macros.

Specified by:

stop in class Robot

Returns:

true if successful otherwise false.

stopAllMotors

public boolean stopAllMotors()

Stops all motors.

Specified by:

stopAllMotors in class Robot

Returns:

true if successful otherwise false.

shutdown

public void shutdown()

Shuts down the robot.

Specified by:

shutdown in class Robot

enableLED

public boolean enableLED(boolean on)

LED.

Parameters:

on - if true enables LED

Returns:

true if the LEDs are successfully enabled.