ch.aplu.raspisim

Class Gear

java.lang.Object

Actor

ch.aplu.raspisim.Part

ch.aplu.raspisim.Gear

public class Gear
extends Part

Combines two motors on an axis to perform a car-like movement.

Constructor Summary

Constructors

Constructor and Description
Gear() Creates a gear instance with right motor plugged into port A, left motor plugged into port B.

Method Summary

Methods

Modifier and Type	Method and Description
void	backward() Starts the backward movement.
void	backward(int duration) Starts the backward movement for the given duration (in ms) and stops.
void	forward() Starts the forward movement.
void	forward(int duration) Starts the forward movement for the given duration (in ms) and stops.
Location	getLocation() Returns the current location.
int	getSpeed() Returns the current speed (arbitrary units).
int	getX() Returns the x-coordinate of the current location.
int	getY() Returns the y-coordinate of the current location.
boolean	isMoving() Checks if one or both motors are rotating Calls Thread.sleep(1) to prevent CPU overload in close polling loops.
void	left() Starts to rotate left (center of rotation at middle of the wheel axes).
void	left(int duration) Starts to rotate left (center of rotation at middle of the wheel axes) for the given duration (in ms) and stops.
void	leftArc(double radius) Starts to move to the left on an arc with given radius.
void	leftArc(double radius, int duration) Starts to move left on an arc with given radius for the given duration (in ms) and stops.
void	right() Starts to rotate right (center of rotation at middle of the wheel axes).
void	right(int duration) Starts to rotate right (center of rotation at middle of the wheel axes) for the given duration (in ms) and stops.
void	rightArc(double radius) Starts to move to the right on an arc with given radius.
void	rightArc(double radius, int duration) Starts to move right on an arc with given radius for the given duration (in ms) and stops.
void	setSpeed(int speed) Sets the speed to the given value (arbitrary units).
void	stop() Stops the movement.

Methods inherited from class java.lang.Object

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

Constructor Detail

Gear

public Gear()

Creates a gear instance with right motor plugged into port A, left motor plugged into port B.

Method Detail

forward

public void forward()

Starts the forward movement. Method returns immediately, while the movement continues.

forward

public void forward(int duration)

Starts the forward movement for the given duration (in ms) and stops. Method returns at the end of the given duration,

Parameters:

duration - the duration (in ms)

backward

public void backward()

Starts the backward movement. Method returns immediately, while the movement continues.

backward

public void backward(int duration)

Starts the backward movement for the given duration (in ms) and stops. Method returns at the end of the given duration,

Parameters:

duration - the duration (in ms)

stop

public void stop()

Stops the movement.

left

public void left()

Starts to rotate left (center of rotation at middle of the wheel axes). Method returns immediately, while the movement continues.

left

public void left(int duration)

Starts to rotate left (center of rotation at middle of the wheel axes) for the given duration (in ms) and stops. Method returns at the end of the given duration,

Parameters:

duration - the duration (in ms)

right

public void right()

Starts to rotate right (center of rotation at middle of the wheel axes). Method returns immediately, while the movement continues.

right

public void right(int duration)

Starts to rotate right (center of rotation at middle of the wheel axes) for the given duration (in ms) and stops. Method returns at the end of the given duration,

Parameters:

duration - the duration (in ms)

leftArc

public void leftArc(double radius)

Starts to move to the left on an arc with given radius. Method returns immediately, while the movement continues.

Parameters:

radius - the radius of the arc; if negative, moves backward

leftArc

public void leftArc(double radius,
           int duration)

Starts to move left on an arc with given radius for the given duration (in ms) and stops. Method returns at the end of the given duration,

Parameters:

radius - the radius of the arc; if negative, moves backward

duration - the duration (in ms)

rightArc

public void rightArc(double radius)

Starts to move to the right on an arc with given radius. Method returns immediately, while the movement continues.

Parameters:

radius - the radius of the arc; if negative, moves backward

rightArc

public void rightArc(double radius,
            int duration)

Starts to move right on an arc with given radius for the given duration (in ms) and stops. Method returns at the end of the given duration,

Parameters:

radius - the radius of the arc; if negative, moves backward

duration - the duration (in ms)

setSpeed

public void setSpeed(int speed)

Sets the speed to the given value (arbitrary units).

Parameters:

speed - 0..100

getSpeed

public int getSpeed()

Returns the current speed (arbitrary units).

Returns:

speed 0..100

isMoving

public boolean isMoving()

Checks if one or both motors are rotating Calls Thread.sleep(1) to prevent CPU overload in close polling loops.

Returns:

true, if gear is moving; otherwise false

getX

public int getX()

Returns the x-coordinate of the current location. Calls Thread.sleep(1) to prevent CPU overload in close polling loops.

Returns:

the current x-coordinate

getY

public int getY()

Returns the y-coordinate of the current location. Calls Thread.sleep(1) to prevent CPU overload in close polling loops.

Returns:

the current x-coordinate

getLocation

public Location getLocation()

Returns the current location. Calls Thread.sleep(1) to prevent CPU overload in close polling loops.

Returns:

the current location