Package lejos.robotics

Class RotatingRangeScanner

java.lang.Object

lejos.robotics.RotatingRangeScanner

All Implemented Interfaces:

RangeScanner

public class RotatingRangeScanner
extends java.lang.Object
implements RangeScanner

Implementation of RangeScanner with a rotating ultrasonic sensor or other range finder

Author:

Roger Glassey

Field Summary

Fields

Modifier and Type	Field	Description
protected float[]	angles
protected int	gearRatio
protected RegulatedMotor	head
protected int	MAX_RELIABLE_RANGE_READING
protected RangeFinder	rangeFinder
protected RangeReadings	readings
protected int	ZERO

Constructor Summary

Constructors

Constructor	Description
RotatingRangeScanner(RegulatedMotor head, RangeFinder rangeFinder)	The constructor specifies the motor and range finder used
RotatingRangeScanner(RegulatedMotor head, RangeFinder rangeFinder, int gearRatio)

Method Summary

Modifier and Type	Method	Description
RangeFinder	getRangeFinder()	returns the rangeFinder - allows other objects to get a range value.
RangeReadings	getRangeValues()	Returns a set of Range Readings taken the angles specified.
void	setAngles(float[] angles)	set the angles to be used by the getRangeValues() method
void	setGearRatio(int gearRatio)	Set the gear ratio
void	setHeadMotor(RegulatedMotor motor)	Set the head motor

Methods inherited from class java.lang.Object

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

Field Detail

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

rangeFinder

protected RangeFinder rangeFinder

head

protected RegulatedMotor head

angles

protected float[] angles

gearRatio

protected int gearRatio

Constructor Detail

RotatingRangeScanner

public RotatingRangeScanner(RegulatedMotor head,
                            RangeFinder rangeFinder)

The constructor specifies the motor and range finder used

Parameters:

head - the motor that rotates the sensor

rangeFinder - the range finder

RotatingRangeScanner

public RotatingRangeScanner(RegulatedMotor head,
                            RangeFinder rangeFinder,
                            int gearRatio)

Method Detail

setGearRatio

public void setGearRatio(int gearRatio)

Set the gear ratio

Parameters:

gearRatio - the gear ratio

setHeadMotor

public void setHeadMotor(RegulatedMotor motor)

Set the head motor

Parameters:

motor - the head motor

getRangeValues

public RangeReadings getRangeValues()

Returns a set of Range Readings taken the angles specified.

Specified by:

getRangeValues in interface RangeScanner

Returns:

the set of range values

setAngles

public void setAngles(float[] angles)

set the angles to be used by the getRangeValues() method

Specified by:

setAngles in interface RangeScanner

Parameters:

angles -

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