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java.lang.Objectjava.lang.Thread
real.RealRCX
This class implements the simple commands provided by AbstractRobot with real lejos commands, allowing the simple commands to be run on the real RCX.
Field Summary | |
static int |
MOTOR_POWER
|
Fields inherited from class java.lang.Thread |
MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY |
Fields inherited from interface interfaces.AbstractRobot |
BACKWARD, FORWARD, MOTOR_A, MOTOR_C, S1, S2, S3 |
Constructor Summary | |
RealRCX(Controller controller)
Initialises necessary variables, and sets up sensors, currently fixed to: |
Method Summary | |
void |
activate()
Methods required by AbstractRobot |
void |
backward()
Sets the robot moving backwards, this will continue until some other method is called to stop it. |
void |
backward(int time)
Makes the robot move backwards for the given amount of time |
void |
beep()
Makes the robot beep |
void |
clearLCD()
Clears the display on the LCD Modified by: Simon Zienkiewicz |
int |
createTimer(int time)
Creates a timer Created by: Simon Zienkiewicz |
void |
displayNumberLCD(int num)
Display numbers on the LCD Modified by: Simon Zienkiewicz |
void |
displayTextLCD(java.lang.String word)
Display text on the LCD Modified by: Simon Zienkiewicz |
void |
forward()
Sets the robot moving forwards, this will continue until some other method is called to stop it. |
void |
forward(int time)
Makes the robot move forwards for the given amount of time |
int |
getDelay(int num)
Gets the delay from the requested timer Created by: Simon Zienkiewicz |
int |
getMotorPower()
Gets the power of the motors for the robot Modified by: Simon Zienkiewicz |
int |
getSensor1()
Get the current reading of this sensor |
int |
getSensor2()
Get the current reading of this sensor |
int |
getSensor3()
Get the current reading of this sensor |
boolean[] |
getTouchSensorStatus()
Gets an array of boolean values for the touch sensors Modified by: Simon Zienkiewicz |
int |
getVoltage()
Gets the voltage of the RCX battery in MilliVolts Modified by: Simon Zienkiewicz |
void |
left()
Sets the robot spinning left, this will continue until some other method is called to stop it. |
void |
left(int time)
Spins the robot left for the given amount of time |
void |
pause(int num)
Pauses the simulation Created by: Simon Zienkiewicz |
void |
playTune(int frequency,
int duration)
Plays a sound Created by: Simon Zienkiewicz |
void |
right()
Sets the robot spinning right, this will continue until some other method is called to stop it. |
void |
right(int time)
Spins the robot right for the given amount of time |
void |
run()
|
void |
setDelay(int num,
int time)
Sets the delay for the requested timer Created by: Simon Zienkiewicz |
void |
setMotorPower(int power)
Sets the power of the motors for the robot Modified by: Simon Zienkiewicz |
void |
singleMotor(int motor,
int direction)
Sets a single Motor moving, this will continue until some other method is called to stop it |
void |
singleMotor(int motor,
int direction,
int time)
Sets a single Motor moving for the given amount of time |
void |
startTimer(int num)
Starts the requested timer Created by: Simon Zienkiewicz |
void |
stopAllTimers()
Stops all timers Created by: Simon Zienkiewicz |
void |
stopMoving()
Stops all motors immediately |
void |
stopTimer(int num)
Stops the requested timer Created by: Simon Zienkiewicz |
Methods inherited from class java.lang.Thread |
activeCount, checkAccess, countStackFrames, currentThread, destroy, dumpStack, enumerate, getContextClassLoader, getName, getPriority, getThreadGroup, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setName, setPriority, sleep, sleep, start, stop, stop, suspend, toString, yield |
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
public static int MOTOR_POWER
Constructor Detail |
public RealRCX(Controller controller)
controller
- the Controller associated with this RCXMethod Detail |
public void run()
run
in interface java.lang.Runnable
public void activate()
activate
in interface AbstractRobot
public void forward()
forward
in interface AbstractRobot
public void forward(int time)
forward
in interface AbstractRobot
time
- the time in millisecondspublic void backward()
backward
in interface AbstractRobot
public void backward(int time)
backward
in interface AbstractRobot
time
- the time in millisecondspublic void right()
right
in interface AbstractRobot
public void right(int time)
right
in interface AbstractRobot
time
- the time in millisecondspublic void left()
left
in interface AbstractRobot
public void left(int time)
left
in interface AbstractRobot
time
- the time in millisecondspublic void singleMotor(int motor, int direction)
singleMotor
in interface AbstractRobot
motor
- the motor number (AbstractRobot.MOTOR_A or AbstractRobot.MOTOR_C);direction
- the direction number (AbstractRobot.BACKWARDS or AbstractRobot.FORWARDSpublic void singleMotor(int motor, int direction, int time)
singleMotor
in interface AbstractRobot
motor
- the motor number (AbstractRobot.MOTOR_A or AbstractRobot.MOTOR_C);time
- the time in millisecondsdirection
- the direction number (AbstractRobot.BACKWARDS or AbstractRobot.FORWARDSpublic void stopMoving()
stopMoving
in interface AbstractRobot
public void beep()
beep
in interface AbstractRobot
public int getSensor1()
getSensor1
in interface AbstractRobot
public int getSensor2()
getSensor2
in interface AbstractRobot
public int getSensor3()
getSensor3
in interface AbstractRobot
public void displayNumberLCD(int num)
displayNumberLCD
in interface AbstractRobot
num
- the number to displaypublic void clearLCD()
clearLCD
in interface AbstractRobot
public void displayTextLCD(java.lang.String word)
displayTextLCD
in interface AbstractRobot
word
- string to displaypublic void setMotorPower(int power)
setMotorPower
in interface AbstractRobot
power
- the desired powerpublic int getMotorPower()
getMotorPower
in interface AbstractRobot
public boolean[] getTouchSensorStatus()
getTouchSensorStatus
in interface AbstractRobot
public int getVoltage()
getVoltage
in interface AbstractRobot
public int createTimer(int time)
AbstractRobot
createTimer
in interface AbstractRobot
time
- the delay for the timer
public void startTimer(int num)
AbstractRobot
startTimer
in interface AbstractRobot
num
- the timer numberpublic void stopTimer(int num)
AbstractRobot
stopTimer
in interface AbstractRobot
num
- the timer numberpublic void stopAllTimers()
AbstractRobot
stopAllTimers
in interface AbstractRobot
public int getDelay(int num)
AbstractRobot
getDelay
in interface AbstractRobot
num
- the timer number
public void setDelay(int num, int time)
AbstractRobot
setDelay
in interface AbstractRobot
num
- the timer numbertime
- the new delay timepublic void pause(int num)
AbstractRobot
pause
in interface AbstractRobot
num
- the number of millisecondspublic void playTune(int frequency, int duration)
playTune
in interface AbstractRobot
frequency
- the sound frequencyduration
- the duration of the sound in milliseconds
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