javaclient2.extra
Class PositionControl

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

public class PositionControl
extends PIDController

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

Author:

Marius Borodi & Radu Bogdan Rusu

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

PositionControl(AbstractPositionDevice pd)
Constructor for PositionControl.

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

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

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

Method Summary

java.awt.Point	getRobotPosition() Get the current robot position as a Point (AWT).
boolean	moveRobot(int distance) Move the robot for a given distance to a new destination.
void	setAllowedError(int err) Set the maximum allowed error between the final goal and the current position.
void	setMaximumCommand(int maxC) Set the maximum admissible command for the robot's motors.
void	setMinimumCommand(int 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

getCommand, 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

PositionControl

public PositionControl(AbstractPositionDevice pd)

Constructor for PositionControl.

Parameters:

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

PositionControl

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

Constructor for PositionControl.

Parameters:

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

kp - the proportional constant

ki - the integral constant

kd - the derivative constant

PositionControl

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

Constructor for PositionControl.

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

PositionControl

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

Constructor for PositionControl.

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(int minC)

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

Parameters:

minC - minimum admissible command as an integer

setMaximumCommand

public void setMaximumCommand(int maxC)

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

Parameters:

maxC - maximum admissible command as an integer

setAllowedError

public void setAllowedError(int err)

Set the maximum allowed error between the final goal and the current position. (default error is 10)

Parameters:

err - maximum allowed error as an integer

stopRobot

public void stopRobot()

Stop the robot from moving.

getRobotPosition

public java.awt.Point getRobotPosition()

Get the current robot position as a Point (AWT).

Returns:

the current robot position

moveRobot

public boolean moveRobot(int distance)

Move the robot for a given distance to a new destination.

Parameters:

distance - the desired distance

Returns:

false in case the movement was interrupted, true otherwise