Main

java.lang.Object
- chassis.Main

```
public class Main
extends Object
```
Base robot class with all hardware objects and loaded utilities Handles demo mode selection, initializes objects, starts other threads

Version:

3.0

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`Main.DemoState`
`static class`	`Main.RobotState` Current action the robot is doing
`static class`	`Main.RobotTask` Robot job.

Field Summary

Fields
Modifier and Type	Field and Description
`static EV3MediumRegulatedMotor`	`clawMotor`
`private static Port`	`colorPort`
`static ColorSensor`	`colorSensor`
`private static WifiConnection`	`conn`
`static Main.DemoState`	`demo`
`static Forklift`	`forklift`
`private static EV3LargeRegulatedMotor`	`forkliftMotor`
`static double[][]`	`GREEN`
`static LightIntensitySensor`	`gridLineDetector`
`private static Port`	`intensityPort`
`static Main.RobotState`	`lastState`
`static LCDInfo`	`lcd`
`private static EV3LargeRegulatedMotor`	`leftMotor`
`static double[][]`	`RED`
`static int`	`RESTING_ARM_POSITION`
`private static EV3LargeRegulatedMotor`	`rightMotor`
`static int`	`startingCorner`
`static double[]`	`startingCornerCoord`
`static Main.RobotState`	`state`
`static Main.RobotTask`	`task`
`private static TextLCD`	`textLCD`
`private static Port`	`usPort`
`static USSensor`	`usSensor`

Constructor Summary

Constructors
Constructor and Description

Main()

Constructors
Constructor and Description
`Main()`

Method Summary

All Methods Static Methods Concrete Methods
Modifier and Type	Method and Description
`static void`	`main(String[] args)` Main execution thread.
`private static Main.DemoState`	`stateSelect()` Creates menu to select a demo state
`private static void`	`transmissionParse(HashMap<String,Integer> transmission)` Parses transmission information and sets robot parameters.
`private static HashMap<String,Integer>`	`wifiConnect()` Connects to wifi and waits for information to be transmitted.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

conn
```
private static WifiConnection conn
```

leftMotor

private static final EV3LargeRegulatedMotor leftMotor

rightMotor

private static final EV3LargeRegulatedMotor rightMotor

forkliftMotor

private static final EV3LargeRegulatedMotor forkliftMotor

clawMotor

public static final EV3MediumRegulatedMotor clawMotor

usPort
```
private static final Port usPort
```

colorPort
```
private static final Port colorPort
```

intensityPort

private static final Port intensityPort

textLCD
```
private static TextLCD textLCD
```

usSensor
```
public static USSensor usSensor
```

colorSensor
```
public static ColorSensor colorSensor
```

forklift
```
public static Forklift forklift
```

gridLineDetector

public static LightIntensitySensor gridLineDetector

state
```
public static Main.RobotState state
```

lastState

public static Main.RobotState lastState

demo
```
public static Main.DemoState demo
```

task
```
public static Main.RobotTask task
```

startingCorner
```
public static int startingCorner
```

startingCornerCoord

public static double[] startingCornerCoord

GREEN
```
public static double[][] GREEN
```

RED
```
public static double[][] RED
```

lcd
```
public static LCDInfo lcd
```

RESTING_ARM_POSITION
```
public static final int RESTING_ARM_POSITION
```
See Also:

Constant Field Values

Constructor Detail
- Main
```
public Main()
```

Method Detail
- main
```
public static void main(String[] args)
```
  Main execution thread.
  
  Parameters:
  
  args - None used
- stateSelect
```
private static Main.DemoState stateSelect()
```
  Creates menu to select a demo state
  
  Returns:
  
  Selected demo state
- transmissionParse
```
private static void transmissionParse(HashMap<String,Integer> transmission)
```
  Parses transmission information and sets robot parameters.
  
  Parameters:
  
  transmission - transmission information gotten from wifi.
- wifiConnect
```
private static HashMap<String,Integer> wifiConnect()
                                            throws IOException
```
  Connects to wifi and waits for information to be transmitted.
  
  Returns:
  
  Transmission parameters to be parsed
  
  Throws:
  
  IOException - Fails if robot cannot connect to server.
  
  See Also:
  
  Util.IP_ADDR

Class Main

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

conn

leftMotor

rightMotor

forkliftMotor

clawMotor

usPort

colorPort

intensityPort

textLCD

usSensor

colorSensor

forklift

gridLineDetector

state

lastState

demo

task

startingCorner

startingCornerCoord

GREEN

RED

lcd

RESTING_ARM_POSITION

Constructor Detail

Main

Method Detail

main

stateSelect

transmissionParse

wifiConnect