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java.lang.Objectjavaclient.PlayerDevice
javaclient.NomadInterface
public class NomadInterface
The nomad interface affords control of Nomadics Nomad robots and relatives.
Warning: some of the command and data variables are specified in native Nomad units; they
don't follow Player's conventions. This will be changed once someone figures out exactly
what the Nomad units are.
Field Summary | |
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static short |
PLAYER_NOMAD_BUMPER_COUNT
|
static short |
PLAYER_NOMAD_IR_COUNT
|
static short |
PLAYER_NOMAD_SONAR_COUNT
|
Fields inherited from class javaclient.PlayerDevice |
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device, DIFFERENCE_SYNCH_FACTOR, index, is, os, pc, PLAYER_MAX_REQREP_SIZE, PLAYER_STXX, reserved, size, t_sec, t_usec, ts_sec, ts_usec |
Constructor Summary | |
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NomadInterface(PlayerClient pc,
short indexOfDevice)
Constructor for NomadInterface. |
Method Summary | |
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int |
getA()
Return the heading in degrees. |
int[] |
getBumpers()
Return the bump sensors status. |
int[] |
getIRs()
Return the infrared range sensors range in mm. |
int[] |
getSonars()
Return the sonar range sensors range in mm. |
int |
getVelSteer()
Return the steering velocity (in native Nomad units). |
int |
getVelTrans()
Return the translation velocity (in native Nomad units). |
int |
getVelTurret()
Return the turret rotation velocity (in native Nomad units) |
int |
getX()
Return the X position in mm. |
int |
getY()
Return the Y position in mm. |
void |
readData()
Read the NOMAD data. The nomad data packet provides a pose estimate, sonar and infrared range readings, and bumper contact readings. |
void |
setVelocities(int newveltrans,
int newvelsteer,
int newvelturret)
The Nomad command packet lets you set independent velocities for translation, steering and turret rotation. |
Methods inherited from class javaclient.PlayerDevice |
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getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, handleNARMessage, handleResponse, readHeader, sendHeader |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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public static final short PLAYER_NOMAD_SONAR_COUNT
public static final short PLAYER_NOMAD_BUMPER_COUNT
public static final short PLAYER_NOMAD_IR_COUNT
Constructor Detail |
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public NomadInterface(PlayerClient pc, short indexOfDevice)
pc
- a reference to the PlayerClient objectindexOfDevice
- the index of the deviceMethod Detail |
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public void readData()
readData
in class PlayerDevice
public int getX()
public int getY()
public int getA()
public int getVelTrans()
public int getVelSteer()
public int getVelTurret()
public int[] getSonars()
public int[] getIRs()
public int[] getBumpers()
public void setVelocities(int newveltrans, int newvelsteer, int newvelturret)
newveltrans
- translation velocity (in native Nomad units)newvelsteer
- steering velocity (in native Nomad units)newvelturret
- turret rotation velocity (in native Nomad units)
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