Package lejos.robotics.chassis

Class WheeledChassis.Modeler

java.lang.Object

lejos.robotics.chassis.WheeledChassis.Modeler

All Implemented Interfaces:

Wheel

Enclosing class:

WheeledChassis

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

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

• offset() specifes the location of the wheel along the y-axis
• gearRatio() specifes 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	angle
protected double	diameter
protected double	gearRatio
protected boolean	invert
protected RegulatedMotor	motor
protected double	offset

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
WheeledChassis.Modeler	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.Modeler	invert(boolean val)	Inverts the motor direction
WheeledChassis.Modeler	offset(double val)	Defines the offset off the wheel

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

angle

protected double angle

invert

protected boolean invert

Constructor Detail

Modeler

public Modeler(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

offset

public WheeledChassis.Modeler offset(double val)

Defines the offset off the wheel

Parameters:

val - The distance between the robots yPose-axis and the center of the wheel

Returns:

the modeler

gearRatio

public WheeledChassis.Modeler gearRatio(double val)

Defines the gear train between motor and wheel.

Parameters:

val - The ratio between wheel speed and motor speed

Returns:

the modeler

invert

public WheeledChassis.Modeler 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