utilities

Class Navigation

java.lang.Object

utilities.Navigation

public class Navigation
extends Object

Helpful tools to control robot navigation Some overlap with functions in Odometer, but not many Use this whenever possible

Version:

3.0

Field Summary

Fields

Modifier and Type	Field and Description
private EV3LargeRegulatedMotor	leftMotor
private Odometer	odometer
static boolean	PathBlocked
private EV3LargeRegulatedMotor	rightMotor

Constructor Summary

Constructors

Constructor and Description
Navigation(Odometer odometer) Navigation Constructor

Method Summary

Modifier and Type	Method and Description
private static int	convertAngle(double radius, double width, double angle) Converts angle to rotate to degrees a wheel must rotate
private static int	convertDistance(double radius, double distance) Converts linear distance to degrees a wheel must rotate
void	goForward(double distance) Go forward a set distances
static double	minimalAngle(double theta1, double theta2) Calculates minimal angle
void	setFloat() Float the two motors jointly
void	setSpeeds(float lSpd, float rSpd) Function to set the motor speeds jointly
void	setSpeeds(int lSpd, int rSpd) Function to set the motor speeds jointly
void	travelTo(double x, double y) TravelTo function that travels to designated position while constantly updating heading
void	travelTo(double x, double y, boolean checkSides) TravelTo function that travels to a designated position while constantly updating heading If checkSides is set to true, it will also incrementally check for obstacles on to its sides.
void	travelToInterruptible(double x, double y, Lock interrupt)
void	turnBy(double theta) turnBy function that turns by an angle relative to the robot
void	turnTo(double angle, boolean stop) TurnTo function which takes an angle and boolean as arguments

Methods inherited from class java.lang.Object

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

Field Detail

odometer

private Odometer odometer

leftMotor

private EV3LargeRegulatedMotor leftMotor

rightMotor

private EV3LargeRegulatedMotor rightMotor

PathBlocked

public static boolean PathBlocked

Constructor Detail

Navigation

public Navigation(Odometer odometer)

Navigation Constructor

Parameters:

odometer - Odometer object

Method Detail

setSpeeds

public void setSpeeds(float lSpd,
                      float rSpd)

Function to set the motor speeds jointly

Parameters:

lSpd - - speed of left motor

rSpd - - speed of right motor

setSpeeds

public void setSpeeds(int lSpd,
                      int rSpd)

Function to set the motor speeds jointly

Parameters:

lSpd - - speed of left motor

rSpd - - speed of right motor

setFloat

public void setFloat()

Float the two motors jointly

travelTo

public void travelTo(double x,
                     double y)

TravelTo function that travels to designated position while constantly updating heading

Parameters:

x - x position

y - y position

travelToInterruptible

public void travelToInterruptible(double x,
                                  double y,
                                  Lock interrupt)

travelTo

public void travelTo(double x,
                     double y,
                     boolean checkSides)

TravelTo function that travels to a designated position while constantly updating heading If checkSides is set to true, it will also incrementally check for obstacles on to its sides.

Parameters:

x - x position

y - y position

checkSides - whether or not to check for obstacles on its sides while navigating

turnTo

public void turnTo(double angle,
                   boolean stop)

TurnTo function which takes an angle and boolean as arguments

Parameters:

angle - absolute angle to turn to

stop - if the robot should stop moving after turning

turnBy

public void turnBy(double theta)

turnBy function that turns by an angle relative to the robot

Parameters:

theta - relative angle to turn by

convertDistance

private static int convertDistance(double radius,
                                   double distance)

Converts linear distance to degrees a wheel must rotate

Parameters:

radius - radius of the wheel (cm)

distance - distance (cm)

Returns:

degrees to rotate

convertAngle

private static int convertAngle(double radius,
                                double width,
                                double angle)

Converts angle to rotate to degrees a wheel must rotate

Parameters:

radius - radius of the wheel (cm)

width - distance between wheels

angle - angle to rotate

Returns:

degrees to rotate

minimalAngle

public static double minimalAngle(double theta1,
                                  double theta2)

Calculates minimal angle

Parameters:

theta1 - in radians

theta2 - in radians

Returns:

minimal angle between theta1 and theta2

goForward

public void goForward(double distance)

Go forward a set distances

Parameters:

distance - distance to move (cm)