Package org.deepjava.runtime.mpc555.driver

Class Robi2

java.lang.Object

org.deepjava.runtime.ppc32.Task

org.deepjava.runtime.mpc555.driver.Robi2

All Implemented Interfaces:

Ippc32, Actionable

public class Robi2
extends Task

This driver is used for the Robi2. Robi2 is controlled by a MPC555 processor.

Field Summary

Fields

Modifier and Type	Field	Description
(package private) static HLC1395Pulsed	distSense
(package private) static Robi2	robi2BackgroundTask
static float	v_max
static float	wheelDiameter
static float	wheelDistance

Fields inherited from class org.deepjava.runtime.ppc32.Task

done, firstErr, maxNofTasks, nofActivations, period, safe

Fields inherited from interface org.deepjava.runtime.ppc32.Ippc32

CR, CTR, DAR, DEC, DSISR, FPR0, FPR1, FPR10, FPR11, FPR12, FPR13, FPR14, FPR15, FPR16, FPR17, FPR18, FPR19, FPR2, FPR20, FPR21, FPR22, FPR23, FPR24, FPR25, FPR26, FPR27, FPR28, FPR29, FPR3, FPR30, FPR31, FPR4, FPR5, FPR6, FPR7, FPR8, FPR9, FPSCR, LR, MSR, R0, R1, R10, R11, R12, R13, R14, R15, R16, R17, R18, R19, R2, R20, R21, R22, R23, R24, R25, R26, R27, R28, R29, R3, R30, R31, R4, R5, R6, R7, R8, R9, SPR1, SPR18, SPR19, SPR22, SPR26, SPR268, SPR269, SPR27, SPR272, SPR273, SPR274, SPR275, SPR287, SPR8, SPR9, SPRG0, SPRG1, SPRG2, SPRG3, SRR0, SRR1, TBLread, TBUread, XER

Method Summary

Modifier and Type	Method	Description
void	action()	Background Task.
static void	activatePosLEDs()	Enable all three position LEDs (white)
static void	deactivatePosLEDs()	Disable all three position LEDs (white)
static void	disableAllLEDs()	Turn all LEDs off.
static void	drive(int speed)	Set the speed and direction of both drives so that they rotates in the same direction. The sign define the direction.
static void	enableAllLEDs()
static float	getBatteryVoltage()	Returns the voltage of the battery
static boolean	getCenterLED()	Get the state of the center LED (the blue one).
static int	getDistSensorValue(int sensor)	Read the converted value of a chosen distance sensor.
static boolean	getHeadPosLED()	Get the state of head position LED (LED16).
static boolean	getLeftPosLED()	Get the state of the rear left position LED (LED17).
static float	getOrientation()	Returns the orientation of the Robi2 referenced to the orientation of the point of origin. The point of origin is set, where the Robi2 stood at the start time of the program or resetPos has been called.
static boolean	getPatternLED(int r, int c)	Set the state of the chosen pattern LED.
static float	getPosX()	Returns the x position of the Robi2 referenced to the point of origin. The point of origin is set, where the Robi2 stood at the start time of the program or resetPos has been called.
static float	getPosY()	Returns the x position of the Robi2 referenced to the point of origin. The point of origin is set, where the Robi2 stood at the start time of the program or resetPos has been called.
static boolean	getRightPosLED()	Get the state of the rear right position LED (LED18).
static float	getRobiSpeed()	Returns the current speed of the Robi in his drive direction.
static float	getSpeedX()	Returns the current speed of the Robi2 in X-direction.
static float	getSpeedY()	Returns the current speed of the Robi2 in Y-direction.
static int	getSwitchValue()	Reads the position of the HEX-switch.
static void	resetPos()	Reset the position. The current position is the new point of origin.
static void	setCenterLED(boolean state)	Set the state of the center LED (the blue one).
static void	setDriveSpeedEqual(int speed)	Deprecated.
static void	setDrivesSpeedAntidormic(int speed)	Deprecated.
static void	setHeadPosLED(boolean state)	Set the state of head position LED (LED16).
static void	setLeftDriveSpeed(float speed)	Sets the speed of the left drive in meter per second [m/s]. The sign define the direction.
static void	setLeftDriveSpeed(int speed)	Sets the speed of the left drive in percent. The sign define the direction.
static void	setLeftPosLED(boolean state)	Set the state of the rear left position LED (LED17).
static void	setPatternLED(int r, int c, boolean state)	Set the state of the chosen pattern LED.
static void	setPosLEDs(boolean state)	Set the state for all three position LEDs (the white ones).
static void	setRightDriveSpeed(float speed)	Sets the speed of the right drive in meter per second [m/s]. The sign define the direction.
static void	setRightDriveSpeed(int speed)	Sets the speed of the right drive in percent. The sign define the direction.
static void	setRightPosLED(boolean state)	Set the state of the rear right position LED (LED18).
static void	stop()	Stop both drives
static void	turn(int speed)	Set the speed and direction of both drives so that they rotates antidormic. The sign define the direction of the rotation of the Robi2. A positive value turns clockwise, a negative value turns counterclockwise.

Methods inherited from class org.deepjava.runtime.ppc32.Task

install, remove, time

Methods inherited from class java.lang.Object

equals, getClass, hashCode, toString

Field Detail

robi2BackgroundTask

static Robi2 robi2BackgroundTask

wheelDiameter

public static final float wheelDiameter

See Also:

Constant Field Values

wheelDistance

public static final float wheelDistance

See Also:

Constant Field Values

v_max

public static final float v_max

See Also:

Constant Field Values

distSense

static HLC1395Pulsed distSense

Method Detail

action

public void action()

Background Task.

Do not call this method!

Specified by:

action in interface Actionable

Overrides:

action in class Task

activatePosLEDs

public static void activatePosLEDs()

Enable all three position LEDs (white)

deactivatePosLEDs

public static void deactivatePosLEDs()

Disable all three position LEDs (white)

setPosLEDs

public static void setPosLEDs(boolean state)

Set the state for all three position LEDs (the white ones). This method is useful for toggling the positions LEDs.

Parameters:

state - the state of the LED (true = on, false = off)

setHeadPosLED

public static void setHeadPosLED(boolean state)

Set the state of head position LED (LED16).

Parameters:

state - the state of LED16 (true = on, false = off)

getHeadPosLED

public static boolean getHeadPosLED()

Get the state of head position LED (LED16).

Returns:

the state of LED16 (true = on, false = off)

setLeftPosLED

public static void setLeftPosLED(boolean state)

Set the state of the rear left position LED (LED17).

Parameters:

state - the state of LED17 (true = on, false = off)

getLeftPosLED

public static boolean getLeftPosLED()

Get the state of the rear left position LED (LED17).

Returns:

the state of LED17. (true = on, false = off)

setRightPosLED

public static void setRightPosLED(boolean state)

Set the state of the rear right position LED (LED18).

Parameters:

state - the state of LED18 (true = on, false = off)

getRightPosLED

public static boolean getRightPosLED()

Get the state of the rear right position LED (LED18).

Returns:

the state of LED18 (true = off, false = on)

setPatternLED

public static void setPatternLED(int r,
                                 int c,
                                 boolean state)

Set the state of the chosen pattern LED. Pattern LEDs are the red ones. Examples:

• setPatternLED(0,0,true) turns LED11 on
• setPatternLED(3,2,false) turns LED13 off

Parameters:

r - row of the LED(range 0..3);

c - column of the LED (range 0..2)

state - the state of the LED (true = on, false = off)

getPatternLED

public static boolean getPatternLED(int r,
                                    int c)

Set the state of the chosen pattern LED. Pattern LEDs are the red ones. Examples:

• getPatternLED(0,0) gets the state of LED11
• getPatternLED(3,2) gets the state of LED13

Parameters:

r - row of the LED (range 0..3);

c - column of the LED (range 0..2)

Returns:

the state of the LED (true = on, false = off)

setCenterLED

public static void setCenterLED(boolean state)

Set the state of the center LED (the blue one).

Parameters:

state - the state of the blue center LED (true = on, false = off)

getCenterLED

public static boolean getCenterLED()

Get the state of the center LED (the blue one).

Returns:

the state of the blue center LED (true = on, false = off)

enableAllLEDs

public static void enableAllLEDs()

disableAllLEDs

public static void disableAllLEDs()

Turn all LEDs off.

getSwitchValue

public static int getSwitchValue()

Reads the position of the HEX-switch.

Returns:

the position/value of the HEX-switch

getDistSensorValue

public static int getDistSensorValue(int sensor)

Read the converted value of a chosen distance sensor.

Parameters:

sensor - the sensor which should be read (range 0..15)

Returns:

converted value (range 0..1023), -1 = failed.

getPosX

public static float getPosX()

Returns the x position of the Robi2 referenced to the point of origin.
The point of origin is set, where the Robi2 stood at the start time of the program or resetPos has been called.

Returns:

the difference of the x-coordinate to the point of origin

getPosY

public static float getPosY()

Returns the x position of the Robi2 referenced to the point of origin.
The point of origin is set, where the Robi2 stood at the start time of the program or resetPos has been called.

Returns:

the difference of the y-coordinate to the point of origin

getOrientation

public static float getOrientation()

Returns the orientation of the Robi2 referenced to the orientation of the point of origin.
The point of origin is set, where the Robi2 stood at the start time of the program or resetPos has been called.

Returns:

the difference of the orientation to the point of origin

getSpeedX

public static float getSpeedX()

Returns the current speed of the Robi2 in X-direction.

Returns:

speed

getSpeedY

public static float getSpeedY()

Returns the current speed of the Robi2 in Y-direction.

Returns:

speed

getRobiSpeed

public static float getRobiSpeed()

Returns the current speed of the Robi in his drive direction. The given value is in meter per second [m/s].

Returns:

speed in meter per second [m/s]

resetPos

public static void resetPos()

Reset the position.
The current position is the new point of origin.

setLeftDriveSpeed

public static void setLeftDriveSpeed(int speed)

Sets the speed of the left drive in percent.
The sign define the direction. A negative value for backwards and a positive value for forward.

Parameters:

speed - range: -100..100

setLeftDriveSpeed

public static void setLeftDriveSpeed(float speed)

Sets the speed of the left drive in meter per second [m/s].
The sign define the direction. A negative value for backwards and a positive value for forward.

Parameters:

speed - range: -v_max...v_max

setRightDriveSpeed

public static void setRightDriveSpeed(int speed)

Sets the speed of the right drive in percent.
The sign define the direction. A negative value for backwards and a positive value for forward.

Parameters:

speed - range -100..100

setRightDriveSpeed

public static void setRightDriveSpeed(float speed)

Sets the speed of the right drive in meter per second [m/s].
The sign define the direction. A negative value for backwards and a positive value for forward.

Parameters:

speed - range: -v_max...v_max

drive

public static void drive(int speed)

Set the speed and direction of both drives so that they rotates in the same direction.
The sign define the direction. A negative value for backwards and a positive value for forward.

Parameters:

speed - range: -100..100

setDriveSpeedEqual

public static void setDriveSpeedEqual(int speed)

Deprecated.

Set the speed and direction of both drives so that they rotates in the same direction. The sign define the direction. A negative value for backwards and a positive value for forward.

Parameters:

speed - range: -100..100

turn

public static void turn(int speed)

Set the speed and direction of both drives so that they rotates antidormic.
The sign define the direction of the rotation of the Robi2.
A positive value turns clockwise, a negative value turns counterclockwise.

Parameters:

speed - range: -100..100

setDrivesSpeedAntidormic

public static void setDrivesSpeedAntidormic(int speed)

Deprecated.

Set the speed and direction of both drives so that they rotates antidormic. The sign define the direction of the rotation of the Robi2. A positive value turns clockwise, a negative value turns counterclockwise.

Parameters:

speed - range: -100..100

stop

public static void stop()

Stop both drives

getBatteryVoltage

public static float getBatteryVoltage()

Returns the voltage of the battery

Returns:

voltage