LineFollowerSimulator
Class Robot

java.lang.Object
  java.awt.geom.Path2D
      java.awt.geom.Path2D.Double
          LineFollowerSimulator.Robot

All Implemented Interfaces:

java.awt.Shape, java.io.Serializable, java.lang.Cloneable

public class Robot
extends java.awt.geom.Path2D.Double

Model of a line following robot.

Author:

Ondrej Stanek

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class java.awt.geom.Path2D

java.awt.geom.Path2D.Double, java.awt.geom.Path2D.Float

Field Summary

protected double	angle Rotation of the robot, in radians
LineFollowerSimulator.Sensor	lineSensor Line sensor of the robot
protected LineFollowerSimulator.MotorController	motorController Motor controller of the robot
PIDregulator	regulator PID regulator of the robot
protected double	x X coordinate of the robot's centre of rotation
protected double	y Y coordinate of the robot's centre of rotation

Fields inherited from class java.awt.geom.Path2D

WIND_EVEN_ODD, WIND_NON_ZERO

Constructor Summary

Robot(double x, double y, double angle, java.awt.geom.GeneralPath path)
Initializes robot startup position

Method Summary

void	Move() The simulation of robot movement is done step by step.
void	ResetPosition() Reset robots coordinates and angle to the startup position
void	setWheelGauge(double gauge) Sets the distance between robot wheels

Methods inherited from class java.awt.geom.Path2D.Double

append, clone, curveTo, getBounds2D, getPathIterator, lineTo, moveTo, quadTo, transform

Methods inherited from class java.awt.geom.Path2D

append, closePath, contains, contains, contains, contains, contains, contains, contains, contains, createTransformedShape, getBounds, getCurrentPoint, getPathIterator, getWindingRule, intersects, intersects, intersects, intersects, reset, setWindingRule

Methods inherited from class java.lang.Object

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

Field Detail

angle

protected volatile double angle

Rotation of the robot, in radians

x

protected volatile double x

X coordinate of the robot's centre of rotation

y

protected volatile double y

Y coordinate of the robot's centre of rotation

motorController

protected LineFollowerSimulator.MotorController motorController

Motor controller of the robot

lineSensor

public LineFollowerSimulator.Sensor lineSensor

Line sensor of the robot

regulator

public PIDregulator regulator

PID regulator of the robot

Constructor Detail

Robot

public Robot(double x,
             double y,
             double angle,
             java.awt.geom.GeneralPath path)

Initializes robot startup position

Parameters:

x - coordinate

y - coordinate

angle - orientation

path - bezier path to follow

Method Detail

ResetPosition

public final void ResetPosition()

Reset robots coordinates and angle to the startup position

setWheelGauge

public final void setWheelGauge(double gauge)

Sets the distance between robot wheels

Parameters:

gauge - distance in pixels

Move

public void Move()

The simulation of robot movement is done step by step. Each time this function is called, the new step of animation is computed. The function shall be called periodicaly.