Package lejos.robotics

Class FixedRangeScanner

java.lang.Object

lejos.robotics.FixedRangeScanner

All Implemented Interfaces:

RangeScanner

public class FixedRangeScanner
extends java.lang.Object
implements RangeScanner

Author:

Roger Glassey

Field Summary

Fields

Modifier and Type	Field	Description
protected float[]	angles
protected int	MAX_RELIABLE_RANGE_READING
protected RotateMoveController	pilot
protected RangeFinder	rangeFinder
protected RangeReadings	readings
protected int	ZERO

Constructor Summary

Constructors

Constructor	Description
FixedRangeScanner(RotateMoveController aPilot, RangeFinder rangeFinder)

Method Summary

Modifier and Type	Method	Description
RangeFinder	getRangeFinder()	returns the rangeFinder - allows other objects to get a range value.
RangeReadings	getRangeValues()	Return a set of range readings determined taken at the relative bearings defined in the angles array; The robot rotates back to its original heading at the end.
void	setAngles(float[] angleSet)	Set the array of angles at which range readings are to be taken

Methods inherited from class java.lang.Object

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

Field Detail

rangeFinder

protected RangeFinder rangeFinder

pilot

protected RotateMoveController pilot

angles

protected float[] angles

MAX_RELIABLE_RANGE_READING

protected final int MAX_RELIABLE_RANGE_READING

See Also:

Constant Field Values

ZERO

protected final int ZERO

See Also:

Constant Field Values

readings

protected RangeReadings readings

Constructor Detail

FixedRangeScanner

public FixedRangeScanner(RotateMoveController aPilot,
                         RangeFinder rangeFinder)

Method Detail

getRangeValues

public RangeReadings getRangeValues()

Return a set of range readings determined taken at the relative bearings defined in the angles array; The robot rotates back to its original heading at the end.

Specified by:

getRangeValues in interface RangeScanner

Returns:

the set of range readings

setAngles

public void setAngles(float[] angleSet)

Description copied from interface: RangeScanner

Set the array of angles at which range readings are to be taken

Specified by:

setAngles in interface RangeScanner

Parameters:

angleSet -

getRangeFinder

public RangeFinder getRangeFinder()

returns the rangeFinder - allows other objects to get a range value.

Specified by:

getRangeFinder in interface RangeScanner

Returns:

the range finder