org.lejon.events
Class MotionCommand

java.lang.Object
  org.lejon.events.MotionCommand

public class MotionCommand

extends java.lang.Object

Wrapper class for defining actions that can be executed by the drive object. Possible actions are TRANSLATE, ROTATE in place and driving CURVEs (segments of circles with constant radius).

Possible actions to be executed by a drive. The relevant parameters for a a specific action is shown in the following table.

figure	parameters
TRANSLATE	distance [cm]
ROTATE	angle [deg]
CURVE	radius [cm], angle [deg]

Field Summary

static int	CURVE Constant for action CURVE
static int	NO_ACTION Constant for no action
static int	ROTATE Constant for action ROTATE
static int	TRANSLATE Constant for action TRANSLATE

Constructor Summary

MotionCommand()
Creates a new empty instance.

MotionCommand(int action, int maxpower, int distance, int angle, int radius)
Creates and initializes a new instance.

Method Summary

int	getAction() Returns the type of the action.
int	getAngle() Returns the relative direction angle to rotate to.
int	getDistance() Returns the distance to travel ahead.
int	getMaxPower() Returns the maximum motor power to use.
int	getRadius() Returns the curve radius.
void	setAction(int action) Sets the action type.
void	setAngle(int angle) Sets the relative direction angle to rotate to; for CURVE and ROATATE
void	setDistance(int distance) Sets the distance to travel ahead.
void	setMaxPower(int maxpower) Sets the maximum motor power to use.
void	setRadius(int radius) Sets the curve radius.

Methods inherited from class java.lang.Object

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

Field Detail

NO_ACTION

public static final int NO_ACTION

Constant for no action

See Also:

Constant Field Values

TRANSLATE

public static final int TRANSLATE

Constant for action TRANSLATE

See Also:

Constant Field Values

ROTATE

public static final int ROTATE

Constant for action ROTATE

See Also:

Constant Field Values

CURVE

public static final int CURVE

Constant for action CURVE

See Also:

Constant Field Values

Constructor Detail

MotionCommand

public MotionCommand()

Creates a new empty instance.

MotionCommand

public MotionCommand(int action,
                     int maxpower,
                     int distance,
                     int angle,
                     int radius)

Creates and initializes a new instance.

Parameters:

action - type of action, one of {TRANSLATE, ROTATE, CURVE}

maxpower - max motor power to use, one of {0,1,...,7}

distance - distance [cm] to travel ahead; only for TRANSLATE

angle - relative direction angle [deg] to rotate to; for ROTATE and CURVE; angle < 0 means clockwise rotation

radius - curve radius [cm]; only for CURVE; must be greater than or equal to the axle length of the drive

Method Detail

getAction

public int getAction()

Returns the type of the action.

Returns:

the action code

getMaxPower

public int getMaxPower()

Returns the maximum motor power to use.

Returns:

the maximum motor power

getDistance

public int getDistance()

Returns the distance to travel ahead.

Returns:

the distance [cm]

getAngle

public int getAngle()

Returns the relative direction angle to rotate to.

Returns:

the angle [deg]

getRadius

public int getRadius()

Returns the curve radius.

Returns:

the radius [cm]

setAction

public void setAction(int action)

Sets the action type.

Parameters:

action - the action code

setMaxPower

public void setMaxPower(int maxpower)

Sets the maximum motor power to use.

Parameters:

maxpower - the max power level of the motors, one of {0,1,...7}

setDistance

public void setDistance(int distance)

Sets the distance to travel ahead.

Parameters:

distance - the distance [cm]

setAngle

public void setAngle(int angle)

Sets the relative direction angle to rotate to; for CURVE and ROATATE

Parameters:

angle - the angle [deg]

setRadius

public void setRadius(int radius)

Sets the curve radius.

Parameters:

radius - the radius [cm]