ch.aplu.nxt

Class TurtleRobot

java.lang.Object

ch.aplu.nxt.LegoRobot

ch.aplu.nxt.TurtleRobot

All Implemented Interfaces:

SharedConstants

Direct Known Subclasses:

TurtleCrawler

public class TurtleRobot
extends LegoRobot

Implementation of the basic Logo turtle movements.

Nested Class Summary

Nested classes/interfaces inherited from class ch.aplu.nxt.LegoRobot

LegoRobot.ClosingMode

Field Summary

Fields inherited from class ch.aplu.nxt.LegoRobot

isConnecting

Fields inherited from interface ch.aplu.nxt.SharedConstants

ABOUT, ANGLE, ANGLESTEPSMODE, BOOLEANMODE, BOOT, BRAKE, CELSIUSMODE, CLOSE, CUSTOM, DEBUG_LEVEL_HIGH, DEBUG_LEVEL_LOW, DEBUG_LEVEL_MEDIUM, DEBUG_LEVEL_OFF, DELETE, DELETE_USER_FLASH, DIRECT_COMMAND_NOREPLY, DIRECT_COMMAND_REPLY, FAHRENHEITMODE, FIND_FIRST, FIND_NEXT, GET_BATTERY_LEVEL, GET_CURRENT_PROGRAM_NAME, GET_DEVICE_INFO, GET_FIRMWARE_VERSION, GET_INPUT_VALUES, GET_OUTPUT_STATE, HIGH_SPEED_BUFFER, KEEP_ALIVE, LIGHT_ACTIVE, LIGHT_INACTIVE, LOWSPEED, LOWSPEED_9V, LS_GET_STATUS, LS_READ, LS_WRITE, MESSAGE_READ, MESSAGE_WRITE, MODEMASK, MOTOR_RUN_STATE_IDLE, MOTOR_RUN_STATE_RAMPDOWN, MOTOR_RUN_STATE_RAMPUP, MOTOR_RUN_STATE_RUNNING, MOTORON, NO_OF_SENSOR_TYPES, NO_SENSOR, NXJ_FIND_FIRST, NXJ_FIND_NEXT, OPEN_APPEND_DATA, OPEN_READ, OPEN_READ_LINEAR, OPEN_WRITE, OPEN_WRITE_DATA, OPEN_WRITE_LINEAR, PCTFULLSCALEMODE, PERIODCOUNTERMODE, PLAY_SOUND_FILE, PLAY_TONE, POLL, POLL_BUFFER, POLL_LENGTH, RAWMODE, READ, REFLECTION, REGULATED, REGULATION_MODE_IDLE, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_MOTOR_SYNC, REPLY_COMMAND, RESET_MOTOR_POSITION, RESET_SCALED_INPUT_VALUE, SET_BRICK_NAME, SET_INPUT_MODE, SET_OUTPUT_STATE, SLOPEMASK, SOUND_DB, SOUND_DBA, START_PROGRAM, STOP_PROGRAM, STOP_SOUND_PLAYBACK, SWITCH, SYSTEM_COMMAND_NOREPLY, SYSTEM_COMMAND_REPLY, TEMPERATURE, TITLE, TITLEMP, TRANSITIONCNTMODE, VERSION, WRITE

Constructor Summary

Constructors

Constructor and Description
TurtleRobot() Same as TurtleRobot(btName), but ask for Bluetooth name
TurtleRobot(long address) Same as TurtleRobot(address, true)
TurtleRobot(long address, boolean showPane) Same as TurtleRobot(btName, showPane), but Bluetooth address given.
TurtleRobot(java.lang.String btName) Same as TurtleRobot(btName, true)
TurtleRobot(java.lang.String btName, boolean showPane) Creates a turtle robot instance using a NXT brick with given Bluetooth name.

Method Summary

Methods

Modifier and Type	Method and Description
TurtleRobot	backward(int steps) Moves the turtle backward the given number of steps.
void	exit() Closes the Bluetooth communication and terminates the program.
TurtleRobot	forward(int steps) Moves the turtle forward the given number of steps.
Gear	getGear() Returns the gear used as component of the turtle.
int	getTurtleSpeed() Returns the current turtle speed.
TurtleRobot	left(int angle) Turns the turtle to the left for the given angle.
TurtleRobot	right(int angle) Turns the turtle to the right for the given angle.
TurtleRobot	setTurtleSpeed(int speed) Sets the turtle speed to the given value.

Methods inherited from class ch.aplu.nxt.LegoRobot

addPart, clearDisplay, connect, connect, connect, disconnect, drawString, drawStringAt, fileExists, findFirst, findNext, getAbout, getBatteryLevel, getBtAddress, getBtAddressLong, getBtName, getDebugLevel, getFriendlyName, getHitButtonID, getInputStream, getOutputStream, getProperties, getStreamConnection, getVersion, isButtonHit, isButtonListenerRunning, isConnected, isDownHit, isEnterHit, isEscapeHit, isLeftHit, isRightHit, isRunning, isUpHit, keepAlive, playConnectMelody, playDisconnectMelody, playTone, readData, requestData, reset, sendData, setChannel, startButtonListener, startProgram, stopButtonListener

Methods inherited from class java.lang.Object

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

Constructor Detail

TurtleRobot

public TurtleRobot(java.lang.String btName,
           boolean showPane)

Creates a turtle robot instance using a NXT brick with given Bluetooth name. A connection trial is engaged while an information box is shown. If the connection fails, the calling thread will be put in a wait state and the program hangs. The user can then terminate the application by closing the information pane. established at this time.

If showConsole = true, the turtle commands are displayed in a console window. If btName = null, a input dialog is displayed where the Bluetooth name can be entered.

Parameters:

btName - the Bluetooth friendly name, e.g. NXT

showPane - if true, an information pane is showed, where the turtle commands are listed

TurtleRobot

public TurtleRobot(java.lang.String btName)

Same as TurtleRobot(btName, true)

Parameters:

btName - the Bluetooth friendly name, e.g. NXT

TurtleRobot

public TurtleRobot()

Same as TurtleRobot(btName), but ask for Bluetooth name

TurtleRobot

public TurtleRobot(long address,
           boolean showPane)

Same as TurtleRobot(btName, showPane), but Bluetooth address given.

Parameters:

address - the 48-bit Bluetooth address as long

showPane - if true, an information pane is showed, where the turtle commands are listed

TurtleRobot

public TurtleRobot(long address)

Same as TurtleRobot(address, true)

Parameters:

address - the 48-bit Bluetooth address as long

Method Detail

getGear

public Gear getGear()

Returns the gear used as component of the turtle.

Returns:

the reference of the Gear instance

setTurtleSpeed

public TurtleRobot setTurtleSpeed(int speed)

Sets the turtle speed to the given value. The TurtleRotationSpeed remains unchanged. The speed will be changed to the new value at the next movement call only.

Parameters:

speed - 0..100

Returns:

the object reference to allow method chaining

getTurtleSpeed

public int getTurtleSpeed()

Returns the current turtle speed.

Returns:

speed 0..100

forward

public TurtleRobot forward(int steps)

Moves the turtle forward the given number of steps. The methods blocks until the turtle is at the final position. The actual distance depends on the "TurtleStepFactor" as defined in the nxtlib.properties file. The turtle speed corresponds to the "TurtleSpeed" as defined in the nxtlib.properties file.

Parameters:

steps - the number of steps to go.

Returns:

the object reference to allow method chaining

backward

public TurtleRobot backward(int steps)

Moves the turtle backward the given number of steps. The methods blocks until the turtle is at the final position. The actual distance depends on the "TurtleStepFactor" as defined in the nxtlib.properties file. The turtle speed corresponds to the "TurtleSpeed" as defined in the nxtlib.properties file.

Parameters:

steps - the number of steps to go.

Returns:

the object reference to allow method chaining

left

public TurtleRobot left(int angle)

Turns the turtle to the left for the given angle. The methods blocks until the turtle is at the final position. Due to the construction of the NXT the accuracy is limited. It depends on the "TurtleRotationFactor" and the "TurtleRotationSpeed" as defined in the nxtlib.properties file.

Parameters:

angle - the angle in degree to rotate.

Returns:

the object reference to allow method chaining

right

public TurtleRobot right(int angle)

Turns the turtle to the right for the given angle. The methods blocks until the turtle is at the final position. Due to the construction of the NXT the accuracy is limited. It depends on the "TurtleRotationFactor" and the "TurtleRotationSpeed" as defined in the nxtlib.properties file.

Parameters:

angle - the angle in degree to rotate.

Returns:

the object reference to allow method chaining

exit

public void exit()

Closes the Bluetooth communication and terminates the program.

Overrides:

exit in class LegoRobot