javaclient2.extra
Class HeadingControl

java.lang.Object
  javaclient2.extra.Controller
      javaclient2.extra.PIDController
          javaclient2.extra.HeadingControl

public class HeadingControl
extends PIDController

Heading control interface for Position, Position2D and Position3D Player interfaces. Uses methods from both player interfaces and PIDController.

Author:

Radu Bogdan Rusu & Marius Borodi

Field Summary

Fields inherited from class javaclient2.extra.PIDController

kd, ki, kp

Fields inherited from class javaclient2.extra.Controller

currE, eSum, goal, lastE

Constructor Summary

HeadingControl(AbstractPositionDevice pd)
Constructor for HeadingControl.

HeadingControl(AbstractPositionDevice pd, int minC, int maxC)
Constructor for HeadingControl.

HeadingControl(AbstractPositionDevice pd, int kp, int ki, int kd)
Constructor for HeadingControl.

HeadingControl(AbstractPositionDevice pd, int minC, int maxC, int kp, int ki, int kd)
Constructor for HeadingControl.

Method Summary

float	getCommand(float currentOutput) Calculate and return the controller's command for the controlled system.
void	setAllowedError(float err) Set the maximum allowed error between the final goal and the current position.
boolean	setDiffHeading(float angle) Rotate the robot on spot (differential heading) with a desired heading.
boolean	setHeading(float angle) Rotate the robot on spot (absolute heading) to the desired heading.
void	setMaximumCommand(float maxC) Set the maximum admissible command for the robot's motors.
void	setMinimumCommand(float minC) Set the minimum admissible command for the robot's motors.
void	stopRobot() Stop the robot from moving.

Methods inherited from class javaclient2.extra.PIDController

getKd, getKi, getKp, setKd, setKi, setKp

Methods inherited from class javaclient2.extra.Controller

deltaE, setGoal

Methods inherited from class java.lang.Object

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

Constructor Detail

HeadingControl

public HeadingControl(AbstractPositionDevice pd)

Constructor for HeadingControl.

Parameters:

pd - a reference to a PlayerDevice interface (Position, Position2D or Position3D).

HeadingControl

public HeadingControl(AbstractPositionDevice pd,
                      int kp,
                      int ki,
                      int kd)

Constructor for HeadingControl.

Parameters:

pd - a reference to a PlayerDevice interface (Position, Position2D or Position3D).

kp - the proportional constant

ki - the integral constant

kd - the derivative constant

HeadingControl

public HeadingControl(AbstractPositionDevice pd,
                      int minC,
                      int maxC)

Constructor for HeadingControl.

Parameters:

pd - a reference to a PlayerDevice interface (Position, Position2D or Position3D).

minC - minimum admissible command for the robot's motors

maxC - maximum admissible command for the robot's motors

HeadingControl

public HeadingControl(AbstractPositionDevice pd,
                      int minC,
                      int maxC,
                      int kp,
                      int ki,
                      int kd)

Constructor for HeadingControl.

Parameters:

pd - a reference to a PlayerDevice interface (Position, Position2D or Position3D).

minC - minimum admissible command for the robot's motors

maxC - maximum admissible command for the robot's motors

kp - the proportional constant

ki - the integral constant

kd - the derivative constant

Method Detail

setMinimumCommand

public void setMinimumCommand(float minC)

Set the minimum admissible command for the robot's motors.

Parameters:

minC - minimum admissible command as an integer

setMaximumCommand

public void setMaximumCommand(float maxC)

Set the maximum admissible command for the robot's motors.

Parameters:

maxC - maximum admissible command as an integer

stopRobot

public void stopRobot()

Stop the robot from moving.

setAllowedError

public void setAllowedError(float err)

Set the maximum allowed error between the final goal and the current position. (default error is 0)

Parameters:

err - maximum allowed error as an integer

getCommand

public float getCommand(float currentOutput)

Calculate and return the controller's command for the controlled system.

Overrides:

getCommand in class PIDController

Parameters:

currentOutput - the current output of the system

Returns:

the new calculated command for the system

setDiffHeading

public boolean setDiffHeading(float angle)

Rotate the robot on spot (differential heading) with a desired heading.

Parameters:

angle - angle for rotation

Returns:

false in case the rotation was interrupted, true otherwise

setHeading

public boolean setHeading(float angle)

Rotate the robot on spot (absolute heading) to the desired heading.

Parameters:

angle - goal angle

Returns:

false in case the rotation was interrupted, true otherwise