kaos.robots.playerJavaClient
Class PositionPlayerDevice

java.lang.Object
  kaos.robots.playerJavaClient.PlayerDevice
      kaos.robots.playerJavaClient.PositionPlayerDevice

public class PositionPlayerDevice
extends PlayerDevice

Field Summary

protected byte	stalls
protected int	x
protected int	xSpeed
protected int	y
protected int	yaw
protected int	yawSpeed
protected int	ySpeed

Fields inherited from class kaos.robots.playerJavaClient.PlayerDevice

device, df, DIFFERENCE_SYNCH_FACTOR, index, is, os, pc, PLAYER_AIO_CODE, PLAYER_AUDIO_CODE, PLAYER_BLOBFINDER_CODE, PLAYER_BUMPER_CODE, PLAYER_COMMS_CODE, PLAYER_DESCARTES_CODE, PLAYER_DIO_CODE, PLAYER_FIDUCIAL_CODE, PLAYER_GPS_CODE, PLAYER_GRIPPER_CODE, PLAYER_IDAR_CODE, PLAYER_IDARTURRET_CODE, PLAYER_IR_CODE, PLAYER_LASER_CODE, PLAYER_LOCALIZE_CODE, PLAYER_MAX_REQREP_SIZE, PLAYER_MCOM_CODE, PLAYER_MOTE_CODE, PLAYER_PLAYER_CODE, PLAYER_POSITION_CODE, PLAYER_POWER_CODE, PLAYER_PTZ_CODE, PLAYER_SONAR_CODE, PLAYER_SPEECH_CODE, PLAYER_TRUTH_CODE, PLAYER_WAVEFORM_CODE, PLAYER_WIFI_CODE, reserved, size, t_sec, t_usec, ts_sec, ts_usec

Constructor Summary

PositionPlayerDevice(PlayerClient pc, short indexOfDevice)

Method Summary

void	changePositionControl(byte mode)
int	getCompass()
kaos.robots.playerJavaClient.PlayerPositionGeomT	getGeom()
int	getX()
int	getY()
int	getYaw()
void	GoTo(int xP, int yP, int yawT)
void	handleNARMessage()
void	handleResponce(int size)
boolean	isGeomReady()
void	queryGeometry()
void	readData()
void	reset()
void	setMotorState(int state)
void	setOdometry(int xT, int yT, int theta)
void	setPosition(int xP, int yP, int yawT, int xS, int yS, int yawS, byte state, byte type)
void	setPositionPIDParams(int kp, int ki, int kd)
void	setSpeed(int speed, int turnrate)
void	setSpeed(int speed, int turnrate, int sideSpeed)
void	setSpeedProfileParams(short sp, short acc)
void	setVelocityControl(byte mode)
void	setVelocityPIDParams(int kp, int ki, int kd)
byte	stall()
java.lang.String	toString()
java.lang.String	toString2()

Methods inherited from class kaos.robots.playerJavaClient.PlayerDevice

getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, readHeader, readRequestedData, readyToRead, sendHeader

Methods inherited from class java.lang.Object

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

Field Detail

x

protected int x

y

protected int y

yaw

protected int yaw

xSpeed

protected int xSpeed

ySpeed

protected int ySpeed

yawSpeed

protected int yawSpeed

stalls

protected byte stalls

Constructor Detail

PositionPlayerDevice

public PositionPlayerDevice(PlayerClient pc,
                            short indexOfDevice)

Method Detail

readData

public void readData()

Overrides:

readData in class PlayerDevice

GoTo

public void GoTo(int xP,
                 int yP,
                 int yawT)

setPosition

public void setPosition(int xP,
                        int yP,
                        int yawT,
                        int xS,
                        int yS,
                        int yawS,
                        byte state,
                        byte type)

setSpeed

public void setSpeed(int speed,
                     int turnrate)

setSpeed

public void setSpeed(int speed,
                     int turnrate,
                     int sideSpeed)

queryGeometry

public void queryGeometry()

isGeomReady

public boolean isGeomReady()

getGeom

public kaos.robots.playerJavaClient.PlayerPositionGeomT getGeom()

setMotorState

public void setMotorState(int state)

setVelocityControl

public void setVelocityControl(byte mode)

reset

public void reset()

changePositionControl

public void changePositionControl(byte mode)

setOdometry

public void setOdometry(int xT,
                        int yT,
                        int theta)

setVelocityPIDParams

public void setVelocityPIDParams(int kp,
                                 int ki,
                                 int kd)

setPositionPIDParams

public void setPositionPIDParams(int kp,
                                 int ki,
                                 int kd)

setSpeedProfileParams

public void setSpeedProfileParams(short sp,
                                  short acc)

getX

public int getX()

getY

public int getY()

getYaw

public int getYaw()

getCompass

public int getCompass()

stall

public byte stall()

handleResponce

public void handleResponce(int size)

Overrides:

handleResponce in class PlayerDevice

handleNARMessage

public void handleNARMessage()

Overrides:

handleNARMessage in class PlayerDevice

toString2

public java.lang.String toString2()

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object