utilities

Class USLocalizer

java.lang.Object

java.lang.Thread

utilities.USLocalizer

All Implemented Interfaces:

Runnable

public class USLocalizer
extends Thread

Version:

3.0 Localize the robot in the starting square to (0, 0, 90-degrees for first corner)

Nested Class Summary

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

Thread.State, Thread.UncaughtExceptionHandler

Field Summary

Fields

Modifier and Type	Field and Description
private double	distanceUSSensor
private double	lastTheta
private double	minimumDistance
private static float	NO_WALL
private Odometer	odo
static int	ROTATION_SPEED
(package private) int	step
private static double	THETA_THRESHOLD
private USSensor	usSensor

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

Constructors

Constructor and Description
USLocalizer(Odometer odometer, USSensor usSensor, double distanceUSSensor) USLocalizer Constructor

Method Summary

Modifier and Type	Method and Description
void	doLocalization() Run to localize robot
void	run() Called by doLocalization() Do not call directly
private boolean	seesWall() Checks if the robot sees a wall during localizing

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

NO_WALL

private static final float NO_WALL

See Also:

Constant Field Values

THETA_THRESHOLD

private static final double THETA_THRESHOLD

See Also:

Constant Field Values

ROTATION_SPEED

public static int ROTATION_SPEED

odo

private Odometer odo

usSensor

private USSensor usSensor

lastTheta

private double lastTheta

step

int step

minimumDistance

private double minimumDistance

distanceUSSensor

private double distanceUSSensor

Constructor Detail

USLocalizer

public USLocalizer(Odometer odometer,
                   USSensor usSensor,
                   double distanceUSSensor)

USLocalizer Constructor

Parameters:

odometer - Odometer object

usSensor - USSensor object

distanceUSSensor - distance of sensor from center of rotation (in cm)

Method Detail

doLocalization

public void doLocalization()

Run to localize robot

run

public void run()

Called by doLocalization() Do not call directly

Specified by:

run in interface Runnable

Overrides:

run in class Thread

seesWall

private boolean seesWall()

Checks if the robot sees a wall during localizing

Returns:

if a wall is seen