javaclient
Class NomadInterface

java.lang.Object
  javaclient.PlayerDevice
      javaclient.NomadInterface

public class NomadInterface
extends PlayerDevice

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.

Version:

• v1.6.3 - Player 1.6.3 (all interfaces) supported
• v1.6.2 - Player 1.6.2 supported, Javadoc documentation, several bugfixes

Author:

Radu Bogdan Rusu

Field Summary

static short	PLAYER_NOMAD_BUMPER_COUNT
static short	PLAYER_NOMAD_IR_COUNT
static short	PLAYER_NOMAD_SONAR_COUNT

Fields inherited from class javaclient.PlayerDevice

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

NomadInterface(PlayerClient pc, short indexOfDevice)
Constructor for NomadInterface.

Method Summary

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

getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, handleNARMessage, handleResponse, readHeader, sendHeader

Methods inherited from class java.lang.Object

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

Field Detail

PLAYER_NOMAD_SONAR_COUNT

public static final short PLAYER_NOMAD_SONAR_COUNT

See Also:

Constant Field Values

PLAYER_NOMAD_BUMPER_COUNT

public static final short PLAYER_NOMAD_BUMPER_COUNT

See Also:

Constant Field Values

PLAYER_NOMAD_IR_COUNT

public static final short PLAYER_NOMAD_IR_COUNT

See Also:

Constant Field Values

Constructor Detail

NomadInterface

public NomadInterface(PlayerClient pc,
                      short indexOfDevice)

Constructor for NomadInterface.

Parameters:

pc - a reference to the PlayerClient object

indexOfDevice - the index of the device

Method Detail

readData

public void readData()

Read the NOMAD data.
The nomad data packet provides a pose estimate, sonar and infrared range readings, and bumper contact readings.

Overrides:

readData in class PlayerDevice

getX

public int getX()

Return the X position in mm.

Returns:

the X position in mm as an integer

getY

public int getY()

Return the Y position in mm.

Returns:

the Y position in mm as an integer

getA

public int getA()

Return the heading in degrees.

Returns:

the heading in degrees as an integer

getVelTrans

public int getVelTrans()

Return the translation velocity (in native Nomad units).

Returns:

the translation velocity (in native Nomad units) as an integer

getVelSteer

public int getVelSteer()

Return the steering velocity (in native Nomad units).

Returns:

the steering velocity (in native Nomad units) as an integer

getVelTurret

public int getVelTurret()

Return the turret rotation velocity (in native Nomad units)

Returns:

the turret rotation velocity (in native Nomad units) as an integer

getSonars

public int[] getSonars()

Return the sonar range sensors range in mm.

Returns:

the sonar range sensors range in mm as an array of integers

getIRs

public int[] getIRs()

Return the infrared range sensors range in mm.

Returns:

the infrared range sensors range in mm as an array of integers

getBumpers

public int[] getBumpers()

Return the bump sensors status.

Returns:

the bump sensors status (zero - no contact, non-zero - contact) as an array of integers

setVelocities

public void setVelocities(int newveltrans,
                          int newvelsteer,
                          int newvelturret)

The Nomad command packet lets you set independent velocities for translation, steering and turret rotation. These are specified in native Nomad units.

Todo:
This should change in future to match normal Player style (mm/sec), once someone figures out exactly what the Nomad units are.

Parameters:

newveltrans - translation velocity (in native Nomad units)

newvelsteer - steering velocity (in native Nomad units)

newvelturret - turret rotation velocity (in native Nomad units)