LegoRobot

java.lang.Object
- ch.aplu.robotsim.LegoRobot

Direct Known Subclasses:

NxtRobot, TurtleRobot
```
public class LegoRobot
extends java.lang.Object
```
Class that represents a simulated NXT or EV3 robot brick. Parts (e.g. motors, sensors) may be assembled into the robot to make it doing the desired job. Each instance creates its own square playground (501 x 501 pixels). Some initial conditions may be modified by calling static methods of the class RobotContext in a static block. A typical example is:

import ch.aplu.robotsim.*; public class Example { static { RobotContext.setStartPosition(100, 100); RobotContext.setStartDirection(45); } public Example() { LegoRobot robot = new LegoRobot(); Gear gear = new Gear(); robot.addPart(gear); gear.forward(5000); robot.exit(); } public static void main(String[] args) { new Example(); } }

In principle you may remove the static header and use the program unmodified for the real EV3/NXT robot using the EV3JLib/RobotJLib or EV3JLibA/RobotJLibA library (see www.aplu.ch/robot).

All sprite images are loaded from subdirectory "sprites" of the application folder or, if not found there, from _sprites of the distribution JAR.

Field Summary

Fields
Modifier and Type	Field and Description
`static java.awt.Point`	`collisionCenter` Center of a circle to detect robot-obstacle collisions (pixel coordinates relative to center of robot image, default: (-13, 0)).
`static int`	`collisionRadius` Radius of a circle to detect robot-obstacle collisions (in pixels, default: 20).

Constructor Summary

Constructors
Constructor and Description

LegoRobot()
Creates a robot with its playground using defaults from RobotContext.

Constructors
Constructor and Description
`LegoRobot()` Creates a robot with its playground using defaults from RobotContext.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addButtonListener(ButtonListener listener)` Registers a button listener that simulates the events when one of the brick buttons is hit.
`void`	`addCollisionListener(CollisionListener listener)` Registers a robot-obtacle collision listener that fires the collide callback when the circumcircle of the robot overlaps with an obstacle.
`void`	`addObstacle(Obstacle obstacle, int x, int y)` Adds the given obstacle in the obstacle list and shows it at the given location.
`void`	`addPart(Part part)` Assembles the given part into the robot.
`void`	`addTarget(Target target, int x, int y)` Adds the given target in the target list and shows it at the given location.
`void`	`clearDisplay()` Clears the display.
`static void`	`debug(java.lang.String msg)`
`void`	`drawString(java.lang.String text, int x, int y)` Draws the given text line starting at given position.
`void`	`drawStringAt(java.lang.String text, int count)` Draws the given text line starting at given screen cell count.
`void`	`exit()` Stops any motion and performs a cleanup of all parts.
`static GameGrid`	`getGameGrid()` Returns the instance reference of the GameGrid.
`int`	`getHitButtonID()` Returns the button ID of the button previously hit.
`static Actor`	`getRobot()` Returns the instance reference of the Robot actor.
`static java.lang.String`	`getVersion()` Returns the current library version.
`boolean`	`isAutonomous()` Returns always false.
`boolean`	`isButtonHit()` Returns true, if any of the buttons was hit.
`boolean`	`isConnected()` Returns the current state of the underlying GameGrid window.
`boolean`	`isDownHit()` Returns true, if the DOWN button was the last button hit since the last call of this method.
`boolean`	`isEnterHit()` Returns true, if the ENTER button was the last button hit since the last call of this method.
`boolean`	`isEscapeHit()` Returns true, if the ESCAPE button was the last button hit since the last call of this method.
`boolean`	`isLeftHit()` Returns true, if the LEFT button was the last button hit since the last call of this method.
`boolean`	`isRightHit()` Returns true, if the RIGHT button was the last button hit since the last call of this method.
`boolean`	`isUpHit()` Returns true, if the UP button was the last button hit since the last call of this method.
`void`	`playTone(double frequency, double duration)` Plays a sine tone with given frequency and duration and maximum volume.
`void`	`playTone(double volume, double frequency, double duration, boolean blocking)` Plays a sine tone with given frequency and duration.
`void`	`removeObstacle(Obstacle obstacle)` Removes the given obstacle from the obstacle list and hides it.
`void`	`removeTarget(Target target)` Removes the given target from the target list and hides it.
`void`	`reset()` Resets Robot to start location/direction.
`void`	`setLED(int pattern)` Turn on/off the brick's left/right LEDs (only affected in pair).

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - collisionCenter
```
public static java.awt.Point collisionCenter
```
    Center of a circle to detect robot-obstacle collisions (pixel coordinates relative to center of robot image, default: (-13, 0)).
  - collisionRadius
```
public static int collisionRadius
```
    Radius of a circle to detect robot-obstacle collisions (in pixels, default: 20).
- Constructor Detail
  - LegoRobot
```
public LegoRobot()
```
    Creates a robot with its playground using defaults from RobotContext.
- Method Detail
  - addPart
```
public void addPart(Part part)
```
    Assembles the given part into the robot.
    
    Parameters:
    
    part - the part to assemble
  - getGameGrid
```
public static GameGrid getGameGrid()
```
    Returns the instance reference of the GameGrid.
    
    Returns:
    
    the reference of the GameGrid
  - isConnected
```
public boolean isConnected()
```
    Returns the current state of the underlying GameGrid window.
    
    Returns:
    
    true, if the window not disposed; otherwise false
  - getRobot
```
public static Actor getRobot()
```
    Returns the instance reference of the Robot actor.
    
    Returns:
    
    the reference of the Robot
  - exit
```
public void exit()
```
    Stops any motion and performs a cleanup of all parts.
  - getVersion
```
public static java.lang.String getVersion()
```
    Returns the current library version.
    
    Returns:
    
    a string telling the current version
  - reset
```
public void reset()
```
    Resets Robot to start location/direction.
  - addTarget
```
public void addTarget(Target target,
                      int x,
                      int y)
```
    Adds the given target in the target list and shows it at the given location. If the target is already in the target list, it is first removed.
    
    Parameters:
    
    target - the target to add
    
    x - the x location of the target center
    
    y - the y location of the target center
  - removeTarget
```
public void removeTarget(Target target)
```
    Removes the given target from the target list and hides it. If the target is not part of the target list, nothing happens.
    
    Parameters:
    
    target - the target to remove
  - addObstacle
```
public void addObstacle(Obstacle obstacle,
                        int x,
                        int y)
```
    Adds the given obstacle in the obstacle list and shows it at the given location. If the obstacle is already in the obstacle list, it is first removed.
    
    Parameters:
    
    obstacle - the obstacle to add
    
    x - the x location of the target center
    
    y - the y location of the target center
  - removeObstacle
```
public void removeObstacle(Obstacle obstacle)
```
    Removes the given obstacle from the obstacle list and hides it. If the obstacle is not part of the obstacle list, nothing happens.
    
    Parameters:
    
    obstacle - the obstacle to remove
  - addCollisionListener
```
public void addCollisionListener(CollisionListener listener)
```
    Registers a robot-obtacle collision listener that fires the collide callback when the circumcircle of the robot overlaps with an obstacle.
    
    Parameters:
    
    listener - the CollisionListener to register
  - addButtonListener
```
public void addButtonListener(ButtonListener listener)
```
    Registers a button listener that simulates the events when one of the brick buttons is hit. The keyboard simulates the NXT/EV3 buttons as follows:
    ESCAPE button->escape key
    ENTER button->enter key
    UP button (only EV3)->cursor up key
    DOWN button (only EV3)->cursor down key
    LEFT button->cursor left key
    RIGHT button->cursor right key
    
    Parameters:
    
    listener - the ButtonListener to register
  - isButtonHit
```
public boolean isButtonHit()
```
    Returns true, if any of the buttons was hit. The button hit buffer is not cleared. Calls Thread.sleep(10) to be used in narrow loops. A button listener must be started before by calling startButtonListener.
    
    Returns:
    
    true, if a button was hit or the simulation window is closed
  - getHitButtonID
```
public int getHitButtonID()
```
    Returns the button ID of the button previously hit. The button hit buffer is cleared then.
    
    Returns:
    
    the ID of the button; if the hit buffer is empty or the button listener is is not running or the simulation window is closed, return 0
  - isUpHit
```
public boolean isUpHit()
```
    Returns true, if the UP button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.
    
    Returns:
    
    true, if the up button was clicked or the simulation window is closed
  - isDownHit
```
public boolean isDownHit()
```
    Returns true, if the DOWN button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.
    
    Returns:
    
    true, if the up button was clicked or the simulation window is closed
  - isLeftHit
```
public boolean isLeftHit()
```
    Returns true, if the LEFT button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.
    
    Returns:
    
    true, if the up button was clicked or the simulation window is closed
  - isRightHit
```
public boolean isRightHit()
```
    Returns true, if the RIGHT button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.
    
    Returns:
    
    true, if the up button was clicked or the simulation window is closed
  - isEnterHit
```
public boolean isEnterHit()
```
    Returns true, if the ENTER button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.
    
    Returns:
    
    true, if the up button was clicked or the simulation window is closed
  - isEscapeHit
```
public boolean isEscapeHit()
```
    Returns true, if the ESCAPE button was the last button hit since the last call of this method. On return, the button hit is cleared. Calls Thread.sleep(10) to be used in narrow loops.
    
    Returns:
    
    true, if the up button was clicked or the simulation window is closed
  - drawString
```
public void drawString(java.lang.String text,
                       int x,
                       int y)
```
    Draws the given text line starting at given position. Writes to System.out only (compatibility with EV3JLib).
    
    Parameters:
    
    text - the text to display
    
    x - unused
    
    y - unused
  - drawStringAt
```
public void drawStringAt(java.lang.String text,
                         int count)
```
    Draws the given text line starting at given screen cell count. Writes to System.out only (compatibility with EV3JLib).
    
    Parameters:
    
    text - the text to display
    
    count - unused
  - clearDisplay
```
public void clearDisplay()
```
    Clears the display. Empty method for compatibility with EV3JLib.
  - setLED
```
public void setLED(int pattern)
```
    Turn on/off the brick's left/right LEDs (only affected in pair). Pattern mask:
    0: off
    1: green
    2: red
    3: red bright
    4: green blinking
    5: red blinking
    6: red blinking bright
    7: green double blinking
    8: red double blinking
    9: red double blinking bright
    
    Parameters:
    
    pattern - the pattern 0..9
  - isAutonomous
```
public boolean isAutonomous()
```
    Returns always false. For compatiblity with EV3JLib.
    
    Returns:
    
    false
  - playTone
```
public void playTone(double frequency,
                     double duration)
```
    Plays a sine tone with given frequency and duration and maximum volume. The method blocks until the tone is finished.
    
    Parameters:
    
    frequency - the frequency of the tone (in Hertz) (double rounded to int)
    
    duration - the duration of the tone (in Millisec) (double rounded to int)
  - playTone
```
public void playTone(double volume,
                     double frequency,
                     double duration,
                     boolean blocking)
```
    Plays a sine tone with given frequency and duration.
    
    Parameters:
    
    volume - the sound volume (0..100) (double rounded to int)
    
    frequency - the frequency of the tone (in Hertz) (double rounded to int)
    
    duration - the duration of the tone (in Millisec) (double rounded to int)
    
    blocking - if true, the methods blocks until the tone is finished
  - debug
```
public static void debug(java.lang.String msg)
```

Class LegoRobot

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

collisionCenter

collisionRadius

Constructor Detail

LegoRobot

Method Detail

addPart

getGameGrid

isConnected

getRobot

exit

getVersion

reset

addTarget

removeTarget

addObstacle

removeObstacle

addCollisionListener

addButtonListener

isButtonHit

getHitButtonID

isUpHit

isDownHit

isLeftHit

isRightHit

isEnterHit

isEscapeHit

drawString

drawStringAt

clearDisplay

setLED

isAutonomous

playTone

playTone

debug