Package lejos.robotics.chassis

Class WheeledChassis.HolonomicModeler

java.lang.Object

lejos.robotics.chassis.WheeledChassis.HolonomicModeler

All Implemented Interfaces:

Wheel

Enclosing class:

WheeledChassis

public static class WheeledChassis.HolonomicModeler
extends java.lang.Object
implements Wheel

The Modeler class helps to model a wheel. Wheel attributes can be modeled using methods.

• polarPosition() specifies the location of the wheel
• gearRatio() specifies the gear ratio of the gear train between motor and wheel
• invert() inverts the direction of the motor. Equivalent to a negative gearing

Author:

Aswin Bouwmeester

Field Summary

Fields

Modifier and Type	Field	Description
protected double	diameter
protected double	gearRatio
protected boolean	invert
protected RegulatedMotor	motor
protected double	offset
protected Pose	pose

Constructor Summary

Constructors

Constructor	Description
HolonomicModeler(RegulatedMotor motor, double diameter)	Creates a modeler object to model a robot wheel

Method Summary

Modifier and Type	Method	Description
WheeledChassis.HolonomicModeler	cartesianPosition(double x, double y, double angle)	Specifies the location and orientation of the wheel using a cartesian coordinates
WheeledChassis.HolonomicModeler	gearRatio(double val)	Defines the gear train between motor and wheel.
Matrix	getFactors()	Returns the x,y and r factors to calculate motor speed from wheel linear and angular speed.
RegulatedMotor	getMotor()
WheeledChassis.HolonomicModeler	invert(boolean val)	Inverts the motor direction
WheeledChassis.HolonomicModeler	polarPosition(double angle, double radius)	Specifies the location and orientation of the wheel using polar coordinates

Methods inherited from class java.lang.Object

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

Field Detail

motor

protected RegulatedMotor motor

diameter

protected double diameter

gearRatio

protected double gearRatio

offset

protected double offset

pose

protected Pose pose

invert

protected boolean invert

Constructor Detail

HolonomicModeler

public HolonomicModeler(RegulatedMotor motor,
                        double diameter)

Creates a modeler object to model a robot wheel

Parameters:

motor - The regulated motor that drives the wheel

diameter - The diameter of the wheel (Lego wheels have the diameter printed on the side)

Method Detail

polarPosition

public WheeledChassis.HolonomicModeler polarPosition(double angle,
                                                     double radius)

Specifies the location and orientation of the wheel using polar coordinates

Use this method only when the wheel axis points to the center of the robot.

Parameters:

angle - Angle between wheel axis and the robots x-axis

radius - Distance between center of the wheel and center of the robot

Returns:

the modeler

cartesianPosition

public WheeledChassis.HolonomicModeler cartesianPosition(double x,
                                                         double y,
                                                         double angle)

Specifies the location and orientation of the wheel using a cartesian coordinates

Parameters:

x - X-position of the center of the wheel in respect to the robots origin

y - Y-position of the center of the wheel in respect to the robots origin

angle - Angle between the driving direction of the wheel and the robots x-axis

Returns:

the modeler

gearRatio

public WheeledChassis.HolonomicModeler gearRatio(double val)

Defines the gear train between motor and wheel.

Parameters:

val - The ratio between wheel speed and motor speed. A ratio greater than 1 means the wheel turns faster than the motor.

Returns:

the modeler

invert

public WheeledChassis.HolonomicModeler invert(boolean val)

Inverts the motor direction

Parameters:

val -

Returns:

the modeler

getFactors

public Matrix getFactors()

Description copied from interface: Wheel

Returns the x,y and r factors to calculate motor speed from wheel linear and angular speed.

The factors form the row of a forward matrix

Specified by:

getFactors in interface Wheel

Returns:

the factors as a matrix

getMotor

public RegulatedMotor getMotor()

Specified by:

getMotor in interface Wheel