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public interface RotationPlatform
A platform for rotating a sensor and elevating the angle.
Method Summary | |
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int |
getAbsoluteDirection(Pose pose)
Includes the direction of the pilot in the calculation of the real angle of the sensor (as opposed to the relative direction of the sensor) NOTE: There is no corresponding setAbsoluteDirection() method because the angle the Pilot would rotate to and the angle the sensor would rotate to would be ambiguous. e.g. to rotate the sensor 90 degrees, the Pilot could rotate 10 degrees and the sensor 80 degrees, or any number of combinations to get 90 degrees. |
int |
getDirection()
Get the direction the sensor will face. |
int |
getMaximumDirection()
Cables or other hindrances can restrict movement of the platform. |
int |
getMinimumDirection()
Cables or other hindrances can restrict movement of the platform. |
int |
getRotationSpeed()
Gets the speed the platform rotates, in degrees per second. |
float |
getXOffset()
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float |
getYOffset()
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float |
getZOffset()
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void |
scanLeft()
Starts rotating counterclockwise (left). |
void |
scanRight()
Starts rotating to the clockwise (right). |
void |
setDirection(int angle)
Rotates the sensor to the desired angle. |
void |
setMaximumDirection(int maxAngle)
Cables or other hindrances can restrict movement of the platform. |
void |
setMinimumDirection(int minAngle)
Cables or other hindrances can restrict movement of the platform. |
void |
setRotationSpeed(int speed)
Sets the speed the platform should rotate, in degrees per second. |
void |
setXOffset()
The actual central axis of the sensor rotator will reside off center from the actual robot center. |
void |
setYOffset()
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void |
setZOffset()
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void |
stopRotation()
Stops a rotation in motion from one of the rotate methods, like rotateLeft() or rotateUp(). |
boolean |
zero()
This method calibrates the direction and elevation to the zero angle position, which is pointing in the same direction as the robot and facing horizontal. |
Method Detail |
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void setDirection(int angle)
angle
- The angle, in degrees, to rotate to. 0 to 360, increasing counter clockwise from 0, the starting position.int getDirection()
int getMaximumDirection()
int getMinimumDirection()
void setMaximumDirection(int maxAngle)
maxAngle
- void setMinimumDirection(int minAngle)
minAngle
- int getAbsoluteDirection(Pose pose)
pilot
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void setRotationSpeed(int speed)
speed
- int getRotationSpeed()
void scanLeft()
void scanRight()
void stopRotation()
boolean zero()
void setXOffset()
void setYOffset()
void setZOffset()
float getXOffset()
float getYOffset()
float getZOffset()
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