Package lejos.robotics.navigation

Interface MoveController

All Superinterfaces:

MoveProvider

All Known Subinterfaces:

ArcMoveController, ArcRotateMoveController, LineFollowingMoveController, RotateMoveController

All Known Implementing Classes:

CompassPilot, DifferentialPilot

public interface MoveController
extends MoveProvider

Field Summary

Fields

Modifier and Type	Field and Description
static double	WHEEL_SIZE_EV3 EV3 kit wheel diameter, in centimeters
static double	WHEEL_SIZE_NXT1 NXT 1.0 kit wheel diameter, in centimeters
static double	WHEEL_SIZE_NXT2 NXT 2.0 kit wheel diameter, in centimeters
static double	WHEEL_SIZE_RCX White RCX "motorcycle" wheel diameter, in centimeters

Method Summary

Modifier and Type	Method and Description
void	backward() Starts the NXT robot moving backwards.
void	forward() Starts the NXT robot moving forward.
double	getLinearAcceleration() Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
double	getLinearSpeed() Returns the speed at which the robot will travel forward and backward (and to some extent arcs, although actual arc speed is slightly less).
double	getMaxLinearSpeed() Returns the maximum speed at which this robot is capable of traveling forward and backward.
boolean	isMoving() true if the robot is moving
void	setLinearAcceleration(double acceleration) Sets the acceleration at which the robot will accelerate at the start of a move and decelerate at the end of a move.
void	setLinearSpeed(double speed) Sets the speed at which the robot will travel forward and backward (and to some extent arcs, although actual arc speed is slightly less).
void	stop() Halts the NXT robot
void	travel(double distance) Moves the NXT robot a specific distance.
void	travel(double distance, boolean immediateReturn) Moves the NXT robot a specific distance.

Methods inherited from interface lejos.robotics.navigation.MoveProvider

addMoveListener, getMovement

Field Detail

WHEEL_SIZE_NXT1

static final double WHEEL_SIZE_NXT1

NXT 1.0 kit wheel diameter, in centimeters

See Also:

Constant Field Values

WHEEL_SIZE_NXT2

static final double WHEEL_SIZE_NXT2

NXT 2.0 kit wheel diameter, in centimeters

See Also:

Constant Field Values

WHEEL_SIZE_EV3

static final double WHEEL_SIZE_EV3

EV3 kit wheel diameter, in centimeters

See Also:

Constant Field Values

WHEEL_SIZE_RCX

static final double WHEEL_SIZE_RCX

White RCX "motorcycle" wheel diameter, in centimeters

See Also:

Constant Field Values

Method Detail

forward

void forward()

Starts the NXT robot moving forward.

backward

void backward()

Starts the NXT robot moving backwards.

stop

void stop()

Halts the NXT robot

isMoving

boolean isMoving()

true if the robot is moving

Returns:

true if the robot is moving under power.

travel

void travel(double distance)

Moves the NXT robot a specific distance. A positive value moves it forward and a negative value moves it backward. Method returns when movement is done.

Parameters:

distance - The positive or negative distance to move the robot.

travel

void travel(double distance,
            boolean immediateReturn)

Moves the NXT robot a specific distance. A positive value moves it forward and a negative value moves it backward.

Parameters:

distance - The positive or negative distance to move the robot, in wheel diameter units.

immediateReturn - If immediateReturn is true then the method returns immediately.

setLinearSpeed

void setLinearSpeed(double speed)

Sets the speed at which the robot will travel forward and backward (and to some extent arcs, although actual arc speed is slightly less). Speed is measured in units/second. e.g. If wheel diameter is cm, then speed is cm/sec.

Parameters:

speed - In chosen units per second (e.g. cm/sec)

getLinearSpeed

double getLinearSpeed()

Returns the speed at which the robot will travel forward and backward (and to some extent arcs, although actual arc speed is slightly less). Speed is measured in units/second. e.g. If wheel diameter is cm, then speed is cm/sec.

Returns:

Speed in chosen units per second (e.g. cm/sec)

getMaxLinearSpeed

double getMaxLinearSpeed()

Returns the maximum speed at which this robot is capable of traveling forward and backward. Speed is measured in units/second. e.g. If wheel diameter is cm, then speed is cm/sec.

Returns:

Speed in chosen units per second (e.g. cm/sec)

setLinearAcceleration

void setLinearAcceleration(double acceleration)

Sets the acceleration at which the robot will accelerate at the start of a move and decelerate at the end of a move. Acceleration is measured in units/second^2. e.g. If wheel diameter is cm, then acceleration is cm/sec^2.

If acceleration is set during a move it will not be in used for the current move, it will be in effect with the next move.

Parameters:

acceleration - in chosen units/second^2

getLinearAcceleration

double getLinearAcceleration()

Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.

Returns:

acceleration in chosen units/second^2