EDU.gatech.cc.is.abstractrobot
Class MultiForageN150HardPassiveGrip

java.lang.Object
  |
  +--EDU.gatech.cc.is.abstractrobot.Simple
        |
        +--EDU.gatech.cc.is.abstractrobot.SimpleN150Hard
              |
              +--EDU.gatech.cc.is.abstractrobot.MultiForageN150Hard
                    |
                    +--EDU.gatech.cc.is.abstractrobot.MultiForageN150HardPassiveGrip

public class MultiForageN150HardPassiveGrip
extends MultiForageN150Hard
implements MultiForageN150, HardObject

MultiForageN150HardPassiveGrip implements MultiForageN150 for Nomad 150 hardware using the Ndirect class. Assumes a passive gripper. You should see the specifications in MultiForageN150 and Ndirect class documentation for details.

To reduce I/O between the controller and the robot, a thread is set up to perform periodic I/O. The sensor data and motor commands are exchanged through MultiForageN150HardPassiveGrip class variables (globals).

Copyright (c)1997, 1998 Tucker Balch

See Also:
MultiForageN150, Ndirect, EDU.gatech.cc.is.Newton

Fields inherited from class EDU.gatech.cc.is.abstractrobot.MultiForageN150Hard
gripper_finger, gripper_height, hard_command, newt, nt, old_gripper_finger, old_gripper_height, old_hard_command, trigger_mode
 
Fields inherited from class EDU.gatech.cc.is.abstractrobot.SimpleN150Hard
base_speed, cycles, DEBUG, desired_heading, desired_speed, hard_command, in_reverse, keep_running, last_Obstacles, last_Position, last_SteerHeading, last_TurretHeading, nomad150_hardware, num_Obstacles, obstacle_rangeInch, old_desired_heading, old_desired_turret_heading, old_hard_command, run_time_sum, sonar_raw_data, time_sum
 
Fields inherited from class EDU.gatech.cc.is.abstractrobot.Simple
dictionary, displayVectors, unique_id
 
Fields inherited from interface EDU.gatech.cc.is.abstractrobot.MultiForageN150
GRIPPER_CAPTURE_RADIUS, GRIPPER_POSITION, VISION_FOV_DEG, VISION_FOV_RAD, VISION_RANGE
 
Fields inherited from interface EDU.gatech.cc.is.abstractrobot.SimpleN150
MAX_STEER, MAX_TRANSLATION, MAX_TURRET, RADIUS, SONAR_RADIUS
 
Constructor Summary
MultiForageN150HardPassiveGrip(int serial_port, int baud)
          Instantiate a MultiForageN150HardPasiveGrip object.
 
Method Summary
 void takeStep()
          Conducts periodic I/O with the robot.
 
Methods inherited from class EDU.gatech.cc.is.abstractrobot.MultiForageN150Hard
broadcast, connected, getObjectInGripper, getOpponents, getPlayerNumber, getReceiveChannel, getTeammates, getVisualObjects, multicast, run, setCommunicationMaxRange, setGripperFingers, setGripperHeight, setKinMaxRange, setVisionNoise, unicast
 
Methods inherited from class EDU.gatech.cc.is.abstractrobot.SimpleN150Hard
getBackgroundColor, getForegroundColor, getObstacles, getPosition, getSteerHeading, getTime, getTurretHeading, quit, resetPosition, resetSteerHeading, resetTurretHeading, setBaseSpeed, setDisplayString, setObstacleMaxRange, setSpeed, setSteerHeading, setTurretHeading
 
Methods inherited from class EDU.gatech.cc.is.abstractrobot.Simple
getDictionary, getID, getID, setDictionary, setID
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

MultiForageN150HardPassiveGrip

public MultiForageN150HardPassiveGrip(int serial_port,
                                      int baud)
                               throws java.lang.Exception
Instantiate a MultiForageN150HardPasiveGrip object. You should only instantiate one of these per robot connected to your computer. Standard call is MultiForageN150Hard(1,38400);
Parameters:
serial_port - 1 = ttys0 (COM1), 2 = ttys1 (COM2) ...
baud - baud rate for communication.
Throws:
java.lang.Exception - If unable to configure the hardware.
Method Detail

takeStep

public void takeStep()
Conducts periodic I/O with the robot. It runs at most every MultiForageN150HardPassiveGrip.MIN_CYCLE_TIME milliseconds to gather sensor data from the robot, and issue movement commands.
Specified by:
takeStep in interface HardObject
Overrides:
takeStep in class SimpleN150Hard