utilities

Class Capture

java.lang.Object

java.lang.Thread

utilities.Capture

All Implemented Interfaces:

Runnable

public class Capture
extends Thread

Thread that runs when capturing a styrofoam block. Called by and returns control to Search

Version:

3.0

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Capture.CaptureState

Nested classes/interfaces inherited from class java.lang.Thread

Thread.State, Thread.UncaughtExceptionHandler

Field Summary

Fields

Modifier and Type	Field and Description
static Capture.CaptureState	captureState
private static double[]	cardinalPoint
private double[][]	GREEN
private Navigation	nav
private Odometer	odo
private Search	search
private int	towerHeight
private double[]	towerPosition

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

Constructors

Constructor and Description
Capture(Odometer odometer, Search search, double[][] GREEN) Capture Thread Constructor

Method Summary

Modifier and Type	Method and Description
static boolean	inBounds(double x, double y, double width, double height) Checks if the position is in field bounds
void	run() start Capture thread
static void	setContext(double[] cardinalPoint) Sets the current cardinal point at which the robot is bound to

Methods inherited from class java.lang.Thread

activeCount, checkAccess, clone, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yield

Methods inherited from class java.lang.Object

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

Field Detail

odo

private Odometer odo

nav

private Navigation nav

search

private Search search

GREEN

private double[][] GREEN

towerPosition

private double[] towerPosition

cardinalPoint

private static double[] cardinalPoint

captureState

public static Capture.CaptureState captureState

towerHeight

private int towerHeight

Constructor Detail

Capture

public Capture(Odometer odometer,
               Search search,
               double[][] GREEN)

Capture Thread Constructor

Parameters:

odometer - Odometer Object

GREEN - green scoring zone coordinates

Method Detail

run

public void run()

start Capture thread

Specified by:

run in interface Runnable

Overrides:

run in class Thread

inBounds

public static boolean inBounds(double x,
                               double y,
                               double width,
                               double height)

Checks if the position is in field bounds

Parameters:

x -

y -

width - field width (x)

height - field height (y)

Returns:

setContext

public static void setContext(double[] cardinalPoint)

Sets the current cardinal point at which the robot is bound to

Parameters:

cardinalPoint - x and y coordinates of the current cardinal point