utilities

Class Odometer

java.lang.Object

java.lang.Thread

utilities.Odometer

All Implemented Interfaces:

Runnable

public class Odometer
extends Thread

Odometer class for the robot All values in cm and radians unless otherwise specified.

Version:

3.0

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Odometer.LINEDIR
static class	Odometer.TURNDIR

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

Thread.State, Thread.UncaughtExceptionHandler

Field Summary

Fields

Modifier and Type	Field and Description
private double	data
private EV3LargeRegulatedMotor	leftMotor
private int	leftMotorTachoCount
private Object	mutex
static int	NAVIGATE_SPEED
private double	oldltacho
private double	oldrtacho
private EV3LargeRegulatedMotor	rightMotor
private int	rightMotorTachoCount
static int	ROTATE_SPEED
private double	theta
private double	x
private double	y

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

Constructors

Constructor and Description
Odometer(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor) Odometer Constructor

Method Summary

Modifier and Type	Method and Description
void	backwardMotors() Have both motors move in reverse
private int	convertAngle(double radius, double width, double angle) Deprecated.
private int	convertDistance(double radius, double distance) Deprecated.
static double	euclideanDistance(double[] a, double[] b) Euclidean distance between two (x, y) points
void	forwardMotors() Have both motors move forward
double	getFilteredData() Deprecated.
int	getLeftMotorTachoCount()
EV3LargeRegulatedMotor[]	getMotors() Returns the motors used by the odometer
void	getPosition(double[] position) Write coordinates of current position to position
void	getPosition(double[] position, boolean[] update) Write coordinates of the current position to an array
int	getRightMotorTachoCount()
double	getTheta()
double	getX()
double	getY()
void	moveCM(Odometer.LINEDIR dir, double distance, boolean stop) Move a set distance
void	run() Start odometer
void	setData(double data) Deprecated.
void	setLeftMotorTachoCount(int leftMotorTachoCount)
void	setMotorSpeed(int speed) Update motor speeds (deg/s)
void	setMotorSpeeds(int speedL, int speedR) Update motor speeds (deg/s)
void	setPosition(double[] position, boolean[] update) Overrides the current position in the odometer
void	setRightMotorTachoCount(int rightMotorTachoCount)
void	setTheta(double theta)
void	setX(double x)
void	setY(double y)
void	spin(Odometer.TURNDIR dir) Spin in a certain direction
void	stopMotors() Stop motors safely
void	travelTo(double x, double y) Deprecated.
void	turnBy(double theta) Deprecated.
void	turnTo(double theta) Deprecated.

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

ROTATE_SPEED

public static final int ROTATE_SPEED

See Also:

Constant Field Values

NAVIGATE_SPEED

public static final int NAVIGATE_SPEED

See Also:

Constant Field Values

x

private double x

y

private double y

theta

private double theta

leftMotorTachoCount

private int leftMotorTachoCount

rightMotorTachoCount

private int rightMotorTachoCount

leftMotor

private EV3LargeRegulatedMotor leftMotor

rightMotor

private EV3LargeRegulatedMotor rightMotor

mutex

private Object mutex

oldltacho

private double oldltacho

oldrtacho

private double oldrtacho

data

private double data

Constructor Detail

Odometer

public Odometer(EV3LargeRegulatedMotor leftMotor,
                EV3LargeRegulatedMotor rightMotor)

Odometer Constructor

Parameters:

leftMotor - left motor object

rightMotor - right motor object

Method Detail

run

public void run()

Start odometer

Specified by:

run in interface Runnable

Overrides:

run in class Thread

getMotors

public EV3LargeRegulatedMotor[] getMotors()

Returns the motors used by the odometer

Returns:

array of motors (left, right)

setMotorSpeeds

public void setMotorSpeeds(int speedL,
                           int speedR)

Update motor speeds (deg/s)

Parameters:

speedL - left speed

speedR - right sped

setMotorSpeed

public void setMotorSpeed(int speed)

Update motor speeds (deg/s)

Parameters:

speed - speed for both motors

forwardMotors

public void forwardMotors()

Have both motors move forward

backwardMotors

public void backwardMotors()

Have both motors move in reverse

spin

public void spin(Odometer.TURNDIR dir)

Spin in a certain direction

Parameters:

dir - direction to spin in

stopMotors

public void stopMotors()

Stop motors safely

moveCM

public void moveCM(Odometer.LINEDIR dir,
                   double distance,
                   boolean stop)

Move a set distance

Parameters:

dir - direction to move in

distance - distance to move (cm)

stop - if the robot should stop after moving

getPosition

public void getPosition(double[] position,
                        boolean[] update)

Write coordinates of the current position to an array

Parameters:

position - array to hold x, y, and theta coordinates

update - if the x, y, and theta coordinates written to the array

getPosition

public void getPosition(double[] position)

Write coordinates of current position to position

Parameters:

position - array to hold x, y, and theta coordinates

getX

public double getX()

Returns:

x coordinate from odometer

getY

public double getY()

Returns:

y coordinate from odometer

getTheta

public double getTheta()

Returns:

heading from odometer

setPosition

public void setPosition(double[] position,
                        boolean[] update)

Overrides the current position in the odometer

Parameters:

position - x, y, and theta overrides

update - if x, y, and theta should be overridden

setX

public void setX(double x)

Parameters:

x - x coordinate override

setY

public void setY(double y)

Parameters:

y - y coordinate override

setTheta

public void setTheta(double theta)

Parameters:

theta - heading override

getLeftMotorTachoCount

public int getLeftMotorTachoCount()

Returns:

the leftMotorTachoCount

setLeftMotorTachoCount

public void setLeftMotorTachoCount(int leftMotorTachoCount)

Parameters:

leftMotorTachoCount - the leftMotorTachoCount to set

getRightMotorTachoCount

public int getRightMotorTachoCount()

Returns:

the rightMotorTachoCount

setRightMotorTachoCount

public void setRightMotorTachoCount(int rightMotorTachoCount)

Parameters:

rightMotorTachoCount - the rightMotorTachoCount to set

getFilteredData

public double getFilteredData()

Deprecated.

Returns:

- data

setData

public void setData(double data)

Deprecated.

Parameters:

data - - data to set

euclideanDistance

public static double euclideanDistance(double[] a,
                                       double[] b)

Euclidean distance between two (x, y) points

Parameters:

a - point a

b - point b

Returns:

euclidean distance

turnTo

public void turnTo(double theta)

Deprecated.

TurnTo function. Use function in Navigation.

See Also:

Navigation.turnTo(double, boolean)

turnBy

public void turnBy(double theta)

Deprecated.

TurnBy function. Use function in Navigation.

See Also:

Navigation.turnBy(double)

travelTo

public void travelTo(double x,
                     double y)

Deprecated.

TravelTo function. Use function in Navigation.

See Also:

Navigation.travelTo(double, double)

convertDistance

private int convertDistance(double radius,
                            double distance)

Deprecated.

Parameters:

radius - - wheel radius

distance - - linear distance

Returns:

- degrees to turn Replaced by method in Navigation

convertAngle

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

Deprecated.

Parameters:

radius - - wheel radius

width - - track width

angle - - angle to turn

Returns:

- degrees to rotate each wheel Replaced by method in Navigation