basestation.bot.robot.modbot

Class ModbotCommandCenter

java.lang.Object

basestation.bot.commands.ExtendedFourWheelMovement

basestation.bot.robot.modbot.ModbotCommandCenter

All Implemented Interfaces:

CommandCenter, FourWheelMovement

public class ModbotCommandCenter
extends ExtendedFourWheelMovement

A CommandCenter for a ModBot

Constructor Summary

Constructors

Constructor and Description
ModbotCommandCenter(MotorConnection connection, ModBot myBot)

Method Summary

Modifier and Type	Method and Description
boolean	destinationReached()
void	gotoCoord(VisionCoordinate vc) Navigates the bot to (x,y) using its built in navigator.
void	left(double power) bot translates left
void	right(double power) bot translates right
boolean	sendKV(java.lang.String key, java.lang.String value) Sends an arbitrary key and value over the associated bot's connection.
boolean	setWheelPower(double fl, double fr, double bl, double br) Sets the wheel power for all four wheels.

Methods inherited from class basestation.bot.commands.ExtendedFourWheelMovement

backward, clockwise, counterClockwise, forward, stop

Methods inherited from class java.lang.Object

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

Constructor Detail

ModbotCommandCenter

public ModbotCommandCenter(MotorConnection connection,
                           ModBot myBot)

Method Detail

destinationReached

public boolean destinationReached()

Returns:

true if the bot has reached its destination. TODO: convert to a destination queue

gotoCoord

public void gotoCoord(VisionCoordinate vc)

Navigates the bot to (x,y) using its built in navigator. Requires an active vision system and association between the bot and the system.

Parameters:

vc - The coordinate to go to, under the canonical vision system.

left

public void left(double power)

bot translates left

Parameters:

power - the amount of power that should be supplied to the wheels. It should be between 0 and 100

right

public void right(double power)

bot translates right

Parameters:

power - the amount of power that should be supplied to the wheels. It should be between 0 and 100

setWheelPower

public boolean setWheelPower(double fl,
                             double fr,
                             double bl,
                             double br)

Description copied from interface: FourWheelMovement

Sets the wheel power for all four wheels. Wheel power should be a number from -100 to 100. Note that negative number imply the wheel is moving backwards

Parameters:

fl - power to set the front left wheel

fr - power to set the front right wheel

bl - power to set the back left wheel

br - power to set the back right wheel

Returns:

true if the command was likely successful

sendKV

public boolean sendKV(java.lang.String key,
                      java.lang.String value)

Description copied from interface: CommandCenter

Sends an arbitrary key and value over the associated bot's connection. Should only be used for quick prototyping, with the goal of creating a method wrapper around sending the KV.

Parameters:

key - A key to identify the type of command

value - The value of the command

Returns:

True if the command seems to have sent correctly