chassis

Class Forklift

java.lang.Object

chassis.Forklift

public class Forklift
extends Object

Forklift abstraction. Use these methods when controlling the forklift. All methods assume robot started with forklift at highest point.

Version:

3.0

Field Summary

Fields

Modifier and Type	Field and Description
private EV3MediumRegulatedMotor	clawMotor
private EV3LargeRegulatedMotor	forkliftMotor
private boolean	gripped

Constructor Summary

Constructors

Constructor and Description
Forklift(EV3LargeRegulatedMotor forkliftMotor, EV3MediumRegulatedMotor clawMotor) Forklift constructor

Method Summary

Modifier and Type	Method and Description
double	getGrip() Get the gripping position of the claw
void	grip() Move the claw to grip an object
void	liftDown() Move the lift all the way down (to the ground)
void	liftToTower(int towerHeight) Move lift to a height based on the current tower's height
void	liftUp() Move the lift all the way up
void	toggleGrip() Grip with the claw if not gripping, otherwise ungrip.
void	ungrip() Move the claw to release an object

Methods inherited from class java.lang.Object

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

Field Detail

forkliftMotor

private EV3LargeRegulatedMotor forkliftMotor

clawMotor

private EV3MediumRegulatedMotor clawMotor

gripped

private boolean gripped

Constructor Detail

Forklift

public Forklift(EV3LargeRegulatedMotor forkliftMotor,
                EV3MediumRegulatedMotor clawMotor)

Forklift constructor

Parameters:

forkliftMotor - motor object for forklift height

clawMotor - motor object for claw

Method Detail

liftUp

public void liftUp()

Move the lift all the way up

liftDown

public void liftDown()

Move the lift all the way down (to the ground)

liftToTower

public void liftToTower(int towerHeight)

Move lift to a height based on the current tower's height

Parameters:

towerHeight - current number of blocks in the tower

toggleGrip

public void toggleGrip()

Grip with the claw if not gripping, otherwise ungrip.

grip

public void grip()

Move the claw to grip an object

ungrip

public void ungrip()

Move the claw to release an object

getGrip

public double getGrip()

Get the gripping position of the claw

Returns:

tachometer count for the claw motor in its current position