device
Class Position2d

java.lang.Object
  device.Device
      device.RobotDevice
          device.Position2d

All Implemented Interfaces:

IDevice, java.lang.Runnable

public class Position2d
extends RobotDevice

2D Position device of a robot.

Field Summary

(package private) boolean	isNewSpeed
(package private) Position	pos
(package private) Position	setOdometry
(package private) double	speed
(package private) double	turnrate

Fields inherited from class device.RobotDevice

device, deviceNode, logger

Fields inherited from class device.Device

deviceList, host, id, index, isRunning, isThreaded, port, sleeptime, thread

Fields inherited from interface device.external.IDevice

DEVICE_ACTARRAY_CODE, DEVICE_AIO_CODE, DEVICE_AUDIO_CODE, DEVICE_AUDIODSP_CODE, DEVICE_AUDIOMIXER_CODE, DEVICE_BLINKENLIGHT_CODE, DEVICE_BLOBFINDER_CODE, DEVICE_BUMPER_CODE, DEVICE_CAMERA_CODE, DEVICE_DEVICE_CODE, DEVICE_DIO_CODE, DEVICE_ENERGY_CODE, DEVICE_FIDUCIAL_CODE, DEVICE_GPS_CODE, DEVICE_GRAPHICS2D_CODE, DEVICE_GRAPHICS3D_CODE, DEVICE_GRIPPER_CODE, DEVICE_HEALTH_CODE, DEVICE_IMU_CODE, DEVICE_IR_CODE, DEVICE_JOYSTICK_CODE, DEVICE_LASER_CODE, DEVICE_LIMB_CODE, DEVICE_LOCALIZE_CODE, DEVICE_LOG_CODE, DEVICE_MAP_CODE, DEVICE_MCOM_CODE, DEVICE_NOMAD_CODE, DEVICE_NULL_CODE, DEVICE_OPAQUE_CODE, DEVICE_PLANNER_CODE, DEVICE_POINTCLOUD3D_CODE, DEVICE_POSITION1D_CODE, DEVICE_POSITION2D_CODE, DEVICE_POSITION3D_CODE, DEVICE_POWER_CODE, DEVICE_PTZ_CODE, DEVICE_RANGER_CODE, DEVICE_RFID_CODE, DEVICE_SERVICE_ADV_CODE, DEVICE_SIMULATION_CODE, DEVICE_SONAR_CODE, DEVICE_SOUND_CODE, DEVICE_SPEECH_CODE, DEVICE_SPEECH_RECOGNITION_CODE, DEVICE_TRUTH_CODE, DEVICE_WAVEFORM_CODE, DEVICE_WIFI_CODE, DEVICE_WSN_CODE

Constructor Summary

Position2d(DeviceNode roboClient, Device device)
Creates a Position2d object.

Method Summary

void	disableMotor() Disable the robots motors.
void	enableMotor() Enable the robots motors.
Position	getPosition()
double	getSpeed()
double	getTurnrate()
void	setPosition(Position pos)
void	setSpeed(double speed) Sets the motors planar speed.
(package private) void	setSpeed(double newSpeed, double newTurnrate) Sets the speed and turnrate immediately.
void	setTurnrate(double turnrate) Sets the motors turnrate.
void	syncSpeed() Forces to command the motors immediately.
protected void	update() Updates the position device's settings at ~10 Hz Is only called by the run() method!

Methods inherited from class device.RobotDevice

getDevice, getDeviceNode, getLogger, toString

Methods inherited from class device.Device

equals, getDevice, getDeviceIterator, getDeviceList, getDeviceListArray, getHost, getId, getIndex, getPort, getSleepTime, getThreadName, isInList, isRunning, isSupported, isThreaded, matches, matchesList, run, runThreaded, setDeviceList, setHost, setName, setPort, setSleepTime, shutdown

Methods inherited from class java.lang.Object

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

Field Detail

pos

Position pos

speed

double speed

turnrate

double turnrate

setOdometry

Position setOdometry

isNewSpeed

boolean isNewSpeed

Constructor Detail

Position2d

public Position2d(DeviceNode roboClient,
                  Device device)

Creates a Position2d object.

Parameters:

roboClient - The @see DeviceNode this device belongs to.

device - This device's information.

Method Detail

update

protected void update()

Updates the position device's settings at ~10 Hz Is only called by the run() method!

Overrides:

update in class Device

getPosition

public Position getPosition()

Returns:

Last known robot position.

setPosition

public void setPosition(Position pos)

Parameters:

pos - New robot @see Position for odometry device.

getSpeed

public double getSpeed()

Returns:

Robot speed (m/s).

setSpeed

public void setSpeed(double speed)

Sets the motors planar speed.

Parameters:

speed - New robot speed (m/s).

setSpeed

void setSpeed(double newSpeed,
              double newTurnrate)

Sets the speed and turnrate immediately.

Parameters:

newSpeed - The new speed.

newTurnrate - The new turnrate.

syncSpeed

public void syncSpeed()

Forces to command the motors immediately. I will take the speed and turnrate currently set.

setTurnrate

public void setTurnrate(double turnrate)

Sets the motors turnrate.

Parameters:

turnrate - New robot turnrate (rad/s).

getTurnrate

public double getTurnrate()

Returns:

Last known robot turnrate (rad/s).

enableMotor

public void enableMotor()

Enable the robots motors.

disableMotor

public void disableMotor()

Disable the robots motors.