Package lejos.robotics.navigation

Class DifferentialPilot

  • All Implemented Interfaces:
    ArcMoveController, ArcRotateMoveController, LineFollowingMoveController, MoveController, MoveProvider, RotateMoveController
    Direct Known Subclasses:
    CompassPilot
    @Deprecated
public class DifferentialPilot
extends java.lang.Object
implements LineFollowingMoveController
    Deprecated.
    use MovePilot instead.
    The DifferentialPilot class is a software abstraction of the Pilot mechanism of a NXT robot. It contains methods to control robot movements: travel forward or backward in a straight line or a circular path or rotate to a new direction.
    This class will only work with two independently controlled motors to steer differentially, so it can rotate within its own footprint (i.e. turn on one spot). It registers as a RegulatedMotorListener with each of its motors. An object of this class assumes that it has exclusive control of its motors. If any other object makes calls to its motors, the results are unpredictable.
    This class can be used with robots that have reversed motor design: the robot moves in the direction opposite to the the direction of motor rotation. .
    It automatically updates a OdometryPoseProvider which has called the addMoveListener method on this object.
    Some methods optionally return immediately so the thread that called it can do things while the robot is moving, such as monitor sensors and call stop().
    Handling stalls: If a stall is detected, isStalled() returns true , isMoving() returns false, moveStopped() is called, and, if a blocking method is executing, that method exits. The units of measure for travel distance, speed and acceleration are the units used in specifying the wheel diameter and track width in the constructor.
    In all the methods that cause the robot to change its heading (the angle relative to the X axis in which the robot is facing) the angle parameter specifies the change in heading. A positive angle causes a turn to the left (anti-clockwise) to increase the heading, and a negative angle causes a turn to the right (clockwise).
    Example of use of come common methods: 

     DifferentialPilot pilot = new DifferentialPilot(2.1f, 4.4f, Motor.A, Motor.C, true);  // parameters in inches
 pilot.setRobotSpeed(30);  // cm per second
 pilot.travel(50);         // cm
 pilot.rotate(-90);        // degree clockwise
 pilot.travel(-50,true);  //  move backward for 50 cm
 while(pilot.isMoving())Thread.yield();
 pilot.rotate(-90);
 pilot.rotateTo(270);
 pilot.steer(-50,180,true); // turn 180 degrees to the right
 waitComplete();            // returns when previous method is complete
 pilot.steer(100);          // turns with left wheel stationary
 Delay.msDelay(1000;
 pilot.stop();

    Note: A DifferentialPilot robot can simulate a SteeringPilot robot by calling DifferentialPilot.setMinRadius() and setting the value to something greater than zero (perhaps 15 cm).

    • Constructor Summary

      Constructors 
      Constructor Description
      DifferentialPilot​(double leftWheelDiameter, double rightWheelDiameter, double trackWidth, RegulatedMotor leftMotor, RegulatedMotor rightMotor, boolean reverse)
      Deprecated.
      Allocates a DifferentialPilot object, and sets the physical parameters of the NXT robot.
      DifferentialPilot​(double wheelDiameter, double trackWidth, RegulatedMotor leftMotor, RegulatedMotor rightMotor)
      Deprecated.
      Allocates a DifferentialPilot object, and sets the physical parameters of the NXT robot.
      Assumes Motor.forward() causes the robot to move forward.
      DifferentialPilot​(double wheelDiameter, double trackWidth, RegulatedMotor leftMotor, RegulatedMotor rightMotor, boolean reverse)
      Deprecated.
      Allocates a DifferentialPilot object, and sets the physical parameters of the NXT robot.

    • Method Summary

      All Methods Instance Methods Concrete Methods Deprecated Methods 
      Modifier and Type Method Description
      void addMoveListener​(MoveListener m)
      Deprecated.
      Adds a MoveListener that will be notified of all movement events.
      void arc​(double radius, double angle)
      Deprecated.
      Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving.
      void arc​(double radius, double angle, boolean immediateReturn)
      Deprecated.
      Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving.
      void arcBackward​(double radius)
      Deprecated.
      Starts the NXT robot moving backward along an arc with a specified radius.
      void arcForward​(double radius)
      Deprecated.
      Starts the NXT robot moving forward along an arc with a specified radius.
      void backward()
      Deprecated.
      Starts the NXT robot moving backward.
      void forward()
      Deprecated.
      Starts the NXT robot moving forward.
      float getAngleIncrement()
      Deprecated.
       
      double getAngularAcceleration()
      Deprecated.
      Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
      double getAngularSpeed()
      Deprecated.
      Returns the value of the rotation speed
      double getLinearAcceleration()
      Deprecated.
      Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
      double getLinearSpeed()
      Deprecated.
      Returns the speed at which the robot will travel forward and backward (and to some extent arcs, although actual arc speed is slightly less).
      double getMaxAngularSpeed()
      Deprecated.
      returns the maximum value of the rotation speed;
      double getMaxLinearSpeed()
      Deprecated.
      Returns the maximum speed at which this robot is capable of traveling forward and backward.
      float getMaxRotateSpeed()
      Deprecated.
       
      double getMinRadius()
      Deprecated.
      The minimum steering radius this vehicle is capable of when traveling in an arc.
      Move getMovement()
      Deprecated.
      Returns the move made since the move started, but before it has completed.
      float getMovementIncrement()
      Deprecated.
       
      double getTurnRate()
      Deprecated.
      Get the turn rate for arc and steer commands
      boolean isMoving()
      Deprecated.
      true if the robot is moving
      boolean isStalled()
      Deprecated.
       
      protected void movementActive()
      Deprecated.
      Called to indicate that the motors are now running and should be monitored for movement.
      protected void movementStart()
      Deprecated.
      called at start of a movement to inform the listeners that a movement has started.
      void quickStop()
      Deprecated.
      Stops the robot almost immediately.
      void reset()
      Deprecated.
      Resets tacho count for both motors.
      void rotate​(double angle)
      Deprecated.
      Rotates the NXT robot through a specific angle.
      void rotate​(double angle, boolean immediateReturn)
      Deprecated.
      Rotates the NXT robot through a specific angle.
      void rotateLeft()
      Deprecated.
       
      void rotateRight()
      Deprecated.
       
      void setAngularAcceleration​(double acceleration)
      Deprecated.
      Sets the acceleration at which the robot will accelerate at the start of a move and decelerate at the end of a move.
      void setAngularSpeed​(double rotateSpeed)
      Deprecated.
      sets the rotation speed of the vehicle, degrees per second
      void setLinearAcceleration​(double acceleration)
      Deprecated.
      Sets the acceleration at which the robot will accelerate at the start of a move and decelerate at the end of a move.
      void setLinearSpeed​(double travelSpeed)
      Deprecated.
      set travel speed in wheel diameter units per second
      void setMinRadius​(double radius)
      Deprecated.
      Set the radius of the minimum turning circle.
      void steer​(double turnRate)
      Deprecated.
      Starts the robot moving forward along a curved path.
      void steer​(double turnRate, double angle)
      Deprecated.
      Moves the robot along a curved path through a specified turn angle.
      void steer​(double turnRate, double angle, boolean immediateReturn)
      Deprecated.
      Moves the robot along a curved path for a specified angle of rotation.
      void steerBackward​(double turnRate)
      Deprecated.
      Starts the robot moving backward along a curved path.
      void stop()
      Deprecated.
      Stops the NXT robot.
      void travel​(double distance)
      Deprecated.
      Moves the NXT robot a specific distance in an (hopefully) straight line.
      A positive distance causes forward motion, a negative distance moves backward.
      void travel​(double distance, boolean immediateReturn)
      Deprecated.
      Moves the NXT robot a specific distance in an (hopefully) straight line.
      A positive distance causes forward motion, a negative distance moves backward.
      void travelArc​(double radius, double distance)
      Deprecated.
      Moves the NXT robot a specified distance along an arc of specified radius, after which the robot stops moving.
      void travelArc​(double radius, double distance, boolean immediateReturn)
      Deprecated.
      Moves the NXT robot a specified distance along an arc of specified radius, after which the robot stops moving.

      • Methods inherited from class java.lang.Object

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

    • Field Detail

      • _left

        protected final RegulatedMotor _left
        Deprecated.
        Left motor..

      • _right

        protected final RegulatedMotor _right
        Deprecated.
        Right motor.

      • _outside

        protected RegulatedMotor _outside
        Deprecated.
        The motor at the outside of the turn. set by steer(turnRate) used by other steer methodsl

      • _leftDegPerDistance

        protected final float _leftDegPerDistance
        Deprecated.
        Left motor degrees per unit of travel.

      • _rightDegPerDistance

        protected final float _rightDegPerDistance
        Deprecated.
        Right motor degrees per unit of travel.

    • Constructor Detail

      • DifferentialPilot

        public DifferentialPilot​(double wheelDiameter,
                         double trackWidth,
                         RegulatedMotor leftMotor,
                         RegulatedMotor rightMotor)
        Deprecated.
        Allocates a DifferentialPilot object, and sets the physical parameters of the NXT robot.
        Assumes Motor.forward() causes the robot to move forward.
        Parameters:
        wheelDiameter - Diameter of the tire, in any convenient units (diameter in mm is usually printed on the tire).
        trackWidth - Distance between center of right tire and center of left tire, in same units as wheelDiameter.
        leftMotor - The left Motor (e.g., Motor.C).
        rightMotor - The right Motor (e.g., Motor.A).

      • DifferentialPilot

        public DifferentialPilot​(double wheelDiameter,
                         double trackWidth,
                         RegulatedMotor leftMotor,
                         RegulatedMotor rightMotor,
                         boolean reverse)
        Deprecated.
        Allocates a DifferentialPilot object, and sets the physical parameters of the NXT robot.
        Parameters:
        wheelDiameter - Diameter of the tire, in any convenient units (diameter in mm is usually printed on the tire).
        trackWidth - Distance between center of right tire and center of left tire, in same units as wheelDiameter.
        leftMotor - The left Motor (e.g., Motor.C).
        rightMotor - The right Motor (e.g., Motor.A).
        reverse - If true, the NXT robot moves forward when the motors are running backward.

      • DifferentialPilot

        public DifferentialPilot​(double leftWheelDiameter,
                         double rightWheelDiameter,
                         double trackWidth,
                         RegulatedMotor leftMotor,
                         RegulatedMotor rightMotor,
                         boolean reverse)
        Deprecated.
        Allocates a DifferentialPilot object, and sets the physical parameters of the NXT robot.
        Parameters:
        leftWheelDiameter - Diameter of the left wheel, in any convenient units (diameter in mm is usually printed on the tire).
        rightWheelDiameter - Diameter of the right wheel. You can actually fit intentionally wheels with different size to your robot. If you fitted wheels with the same size, but your robot is not going straight, try swapping the wheels and see if it deviates into the other direction. That would indicate a small difference in wheel size. Adjust wheel size accordingly. The minimum change in wheel size which will actually have an effect is given by minChange = A*wheelDiameter*wheelDiameter/(1-(A*wheelDiameter) where A = PI/(moveSpeed*360). Thus for a moveSpeed of 25 cm/second and a wheelDiameter of 5,5 cm the minChange is about 0,01058 cm. The reason for this is, that different while sizes will result in different motor speed. And that is given as an integer in degree per second.
        trackWidth - Distance between center of right tire and center of left tire, in same units as wheelDiameter.
        leftMotor - The left Motor (e.g., Motor.C).
        rightMotor - The right Motor (e.g., Motor.A).
        reverse - If true, the NXT robot moves forward when the motors are running backward.

    • Method Detail

      • setLinearSpeed

        public void setLinearSpeed​(double travelSpeed)
        Deprecated.
        set travel speed in wheel diameter units per second
        Specified by:
        setLinearSpeed in interface MoveController
        Parameters:
        travelSpeed - : speed in distance (wheel diameter)units/sec

      • getLinearSpeed

        public double getLinearSpeed()
        Deprecated.
        Description copied from interface: MoveController
        Returns the speed at which the robot will travel forward and backward (and to some extent arcs, although actual arc speed is slightly less). Speed is measured in units/second. e.g. If wheel diameter is cm, then speed is cm/sec.
        Specified by:
        getLinearSpeed in interface MoveController
        Returns:
        Speed in chosen units per second (e.g. cm/sec)

      • setLinearAcceleration

        public void setLinearAcceleration​(double acceleration)
        Deprecated.
        Description copied from interface: MoveController
        Sets the acceleration at which the robot will accelerate at the start of a move and decelerate at the end of a move. Acceleration is measured in units/second^2. e.g. If wheel diameter is cm, then acceleration is cm/sec^2.

        If acceleration is set during a move it will not be in used for the current move, it will be in effect with the next move.

        Specified by:
        setLinearAcceleration in interface MoveController
        Parameters:
        acceleration - in chosen units/second^2

      • getLinearAcceleration

        public double getLinearAcceleration()
        Deprecated.
        Description copied from interface: MoveController
        Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
        Specified by:
        getLinearAcceleration in interface MoveController
        Returns:
        acceleration in chosen units/second^2

      • getMaxLinearSpeed

        public double getMaxLinearSpeed()
        Deprecated.
        Description copied from interface: MoveController
        Returns the maximum speed at which this robot is capable of traveling forward and backward. Speed is measured in units/second. e.g. If wheel diameter is cm, then speed is cm/sec.
        Specified by:
        getMaxLinearSpeed in interface MoveController
        Returns:
        Speed in chosen units per second (e.g. cm/sec)

      • setAngularSpeed

        public void setAngularSpeed​(double rotateSpeed)
        Deprecated.
        sets the rotation speed of the vehicle, degrees per second
        Specified by:
        setAngularSpeed in interface RotateMoveController
        Parameters:
        rotateSpeed -

      • getMaxRotateSpeed

        public float getMaxRotateSpeed()
        Deprecated.

      • forward

        public void forward()
        Deprecated.
        Starts the NXT robot moving forward.
        Specified by:
        forward in interface MoveController

      • backward

        public void backward()
        Deprecated.
        Starts the NXT robot moving backward.
        Specified by:
        backward in interface MoveController

      • rotate

        public void rotate​(double angle)
        Deprecated.
        Rotates the NXT robot through a specific angle. Returns when angle is reached. Wheels turn in opposite directions producing a zero radius turn.
        Note: Requires correct values for wheel diameter and track width. calls rotate(angle,false)
        Specified by:
        rotate in interface RotateMoveController
        Parameters:
        angle - The wanted angle of rotation in degrees. Positive angle rotate left (anti-clockwise), negative right.

      • rotate

        public void rotate​(double angle,
                   boolean immediateReturn)
        Deprecated.
        Rotates the NXT robot through a specific angle. Returns when angle is reached. Wheels turn in opposite directions producing a zero radius turn.
        Note: Requires correct values for wheel diameter and track width. Side effect: inform listeners
        Specified by:
        rotate in interface RotateMoveController
        Parameters:
        angle - The wanted angle of rotation in degrees. Positive angle rotate left (anti-clockwise), negative right.
        immediateReturn - If true this method returns immediately.

      • stop

        public void stop()
        Deprecated.
        Stops the NXT robot. side effect: inform listeners of end of movement
        Specified by:
        stop in interface MoveController

      • quickStop

        public void quickStop()
        Deprecated.
        Stops the robot almost immediately. Use this method if the normal stop() is too slow;

      • travel

        public void travel​(double distance)
        Deprecated.
        Moves the NXT robot a specific distance in an (hopefully) straight line.
        A positive distance causes forward motion, a negative distance moves backward. If a drift correction has been specified in the constructor it will be applied to the left motor. calls travel(distance, false)
        Specified by:
        travel in interface MoveController
        Parameters:
        distance - The distance to move. Unit of measure for distance must be same as wheelDiameter and trackWidth.

      • travel

        public void travel​(double distance,
                   boolean immediateReturn)
        Deprecated.
        Moves the NXT robot a specific distance in an (hopefully) straight line.
        A positive distance causes forward motion, a negative distance moves backward. If a drift correction has been specified in the constructor it will be applied to the left motor.
        Specified by:
        travel in interface MoveController
        Parameters:
        distance - The distance to move. Unit of measure for distance must be same as wheelDiameter and trackWidth.
        immediateReturn - If true this method returns immediately.

      • arcForward

        public void arcForward​(double radius)
        Deprecated.
        Description copied from interface: ArcMoveController
        Starts the NXT robot moving forward along an arc with a specified radius.

        If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
        If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
        If radius is zero, the robot rotates in place.

        Postcondition: Motor speeds are unpredictable.

        Note: If you have specified a drift correction in the constructor it will not be applied in this method.

        Specified by:
        arcForward in interface ArcMoveController
        Parameters:
        radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.

      • arcBackward

        public void arcBackward​(double radius)
        Deprecated.
        Description copied from interface: ArcMoveController
        Starts the NXT robot moving backward along an arc with a specified radius.

        If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
        If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
        If radius is zero, the robot rotates in place.

        Postcondition: Motor speeds are unpredictable.

        Note: If you have specified a drift correction in the constructor it will not be applied in this method.

        Specified by:
        arcBackward in interface ArcMoveController
        Parameters:
        radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.

      • arc

        public void arc​(double radius,
                double angle)
        Deprecated.
        Description copied from interface: ArcMoveController
        Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving. This method does not return until the robot has completed moving angle degrees along the arc.

        If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
        If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
        If radius is zero, is zero, the robot rotates in place.

        Robot will stop when the degrees it has moved along the arc equals angle.
        If angle is positive, the robot will turn to the left (anti-clockwise).
        If angle is negative, the robot will turn to the right (clockwise). If angle is zero, the robot will not move and the method returns immediately.

        Postcondition: Motor speeds are unpredictable.

        Note: If you have specified a drift correction in the constructor it will not be applied in this method.

        Specified by:
        arc in interface ArcMoveController
        Parameters:
        radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
        angle - The sign of the angle determines the direction of the robot turns: Positive is anti-clockwise, negative is clockwise.
        See Also:
        ArcMoveController.travelArc(double, double)

      • arc

        public void arc​(double radius,
                double angle,
                boolean immediateReturn)
        Deprecated.
        Description copied from interface: ArcMoveController
        Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving. This method has the ability to return immediately by using the immediateReturn parameter.

        If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
        If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
        If radius is zero, is zero, the robot rotates in place.

        The robot will stop when the degrees it has moved along the arc equals angle.
        If angle is positive, the robot will turn to the left (anti-clockwise).
        If angle is negative, the robot will turn to the right (clockwise). If angle is zero, the robot will not move and the method returns immediately.

        Postcondition: Motor speeds are unpredictable.

        Note: If you have specified a drift correction in the constructor it will not be applied in this method.

        Specified by:
        arc in interface ArcMoveController
        Parameters:
        radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
        angle - The sign of the angle determines the direction of the robot turns: Positive is anti-clockwise, negative is clockwise.
        immediateReturn - If immediateReturn is true then the method returns immediately.
        See Also:
        ArcMoveController.travelArc(double, double, boolean)

      • travelArc

        public void travelArc​(double radius,
                      double distance)
        Deprecated.
        Description copied from interface: ArcMoveController
        Moves the NXT robot a specified distance along an arc of specified radius, after which the robot stops moving. This method does not return until the robot has completed moving distance along the arc. The units (inches, cm) for distance must be the same as the units used for radius.

        If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
        If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
        If radius is zero, the robot rotates in place

        The robot will stop when it has moved along the arc distance units.
        If distance is positive, the robot will move travel forwards.
        If distance is negative, the robot will move travel backwards.
        If distance is zero, the robot will not move and the method returns immediately.

        Postcondition: Motor speeds are unpredictable.

        Specified by:
        travelArc in interface ArcMoveController
        Parameters:
        radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
        distance - to travel, in same units as radius. The sign of the distance determines the direction of robot motion. Positive drives the robot forward, negative drives it backward.
        See Also:
        ArcMoveController.arc(double, double)

      • travelArc

        public void travelArc​(double radius,
                      double distance,
                      boolean immediateReturn)
        Deprecated.
        Description copied from interface: ArcMoveController
        Moves the NXT robot a specified distance along an arc of specified radius, after which the robot stops moving. This method has the ability to return immediately by using the immediateReturn parameter. The units (inches, cm) for distance should be the same as the units used for radius.

        If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
        If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
        If radius is zero, the robot rotates in place.

        The robot will stop when it has moved along the arc distance units.
        If distance is positive, the robot will move travel forwards.
        If distance is negative, the robot will move travel backwards.
        If distance is zero, the robot will not move and the method returns immediately.

        Postcondition: Motor speeds are unpredictable.

        Specified by:
        travelArc in interface ArcMoveController
        Parameters:
        radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
        distance - to travel, in same units as radius. The sign of the distance determines the direction of robot motion. Positive drives the robot forward, negative drives it backward.
        immediateReturn - If immediateReturn is true then the method returns immediately.
        See Also:
        ArcMoveController.arc(double, double, boolean)

      • steer

        public void steer​(double turnRate)
        Deprecated.
        Starts the robot moving forward along a curved path. This method is similar to the arcForward(double radius ) method except it uses the turnRate parameter do determine the curvature of the path and therefore has the ability to drive straight. This makes it useful for line following applications.

        The turnRate specifies the sharpness of the turn. Use values between -200 and +200.
        A positive value means that center of the turn is on the left. If the robot is traveling toward the top of the page the arc looks like this: ).
        A negative value means that center of the turn is on the right so the arc looks this: (.
        . In this class, this parameter determines the ratio of inner wheel speed to outer wheel speed as a percent.
        Formula: ratio = 100 - abs(turnRate).
        When the ratio is negative, the outer and inner wheels rotate in opposite directions. Examples of how the formula works:

        • steer(0) -> inner and outer wheels turn at the same speed, travel straight
        • steer(25) -> the inner wheel turns at 75% of the speed of the outer wheel, turn left
        • steer(100) -> the inner wheel stops and the outer wheel is at 100 percent, turn left
        • steer(200) -> the inner wheel turns at the same speed as the outer wheel - a zero radius turn.

        Note: If you have specified a drift correction in the constructor it will not be applied in this method.

        Specified by:
        steer in interface LineFollowingMoveController
        Parameters:
        turnRate - If positive, the left side of the robot is on the inside of the turn. If negative, the left side is on the outside.

      • steerBackward

        public void steerBackward​(double turnRate)
        Deprecated.
        Starts the robot moving backward along a curved path. This method is essentially the same as steer(double) except that the robot moves backward instead of forward.
        Specified by:
        steerBackward in interface LineFollowingMoveController
        Parameters:
        turnRate -

      • steer

        public void steer​(double turnRate,
                  double angle)
        Deprecated.
        Moves the robot along a curved path through a specified turn angle. This method is similar to the arc(double radius , double angle) method except it uses a ratio of motor speeds to determine the curvature of the path and therefore has the ability to drive straight. This makes it useful for line following applications. This method does not return until the robot has completed moving angle degrees along the arc.
        The turnRate specifies the sharpness of the turn. Use values between -200 and +200.
        For details about how this parameter works.See steer(double turnRate)

        The robot will stop when its heading has changed by the amount of the angle parameter.
        If angle is positive, the robot will move in the direction that increases its heading (it turns left).
        If angle is negative, the robot will move in the directin that decreases its heading (turns right).
        If angle is zero, the robot will not move and the method returns immediately.

        The sign of the turn rate and the sign of the angle together determine if the robot will move forward or backward. Assuming the robot is heading toward the top of the page. Then a positive turn rate means the arc looks like this: ) . If the angle is positive, the robot moves forward to increase its heading angle. If negative, it moves backward to decrease the heading.
        But if the turn rate is negative, the arc looks like this: ( .So a positive angle (increase in heading) means the robot moves backwards, while a negative angle means the robot moves forward to decrease its heading.

        Note: If you have specified a drift correction in the constructor it will not be applied in this method.

        Parameters:
        turnRate - If positive, the left side of the robot is on the inside of the turn. If negative, the left side is on the outside.
        angle - The angle through which the robot will rotate. If negative, the robot will move in the directin that decreases its heading.

      • steer

        public void steer​(double turnRate,
                  double angle,
                  boolean immediateReturn)
        Deprecated.
        Moves the robot along a curved path for a specified angle of rotation. This method is similar to the arc(double radius, double angle, boolean immediateReturn) method except it uses the turnRate() parameter to determine the curvature of the path and therefore has the ability to drive straight. This makes it useful for line following applications. This method has the ability to return immediately by using the immediateReturn parameter set to true.

        The turnRate specifies the sharpness of the turn. Use values between -200 and +200.
        For details about how this parameter works, see steer(double turnRate)

        The robot will stop when its heading has changed by the amount of the angle parameter.
        If angle is positive, the robot will move in the direction that increases its heading (it turns left).
        If angle is negative, the robot will move in the direction that decreases its heading (turns right).
        If angle is zero, the robot will not move and the method returns immediately.
        For more details about this parameter, see steer(double turnRate, double angle)

        Note: If you have specified a drift correction in the constructor it will not be applied in this method.

        Parameters:
        turnRate - If positive, the left side of the robot is on the inside of the turn. If negative, the left side is on the outside.
        angle - The angle through which the robot will rotate. If negative, robot traces the turning circle backwards.
        immediateReturn - If immediateReturn is true then the method returns immediately.

      • movementStart

        protected void movementStart()
        Deprecated.
        called at start of a movement to inform the listeners that a movement has started. Must be called before the motors start to move to capture the correct positional information

      • movementActive

        protected void movementActive()
        Deprecated.
        Called to indicate that the motors are now running and should be monitored for movement. Must be called after the motors are started.

      • isMoving

        public boolean isMoving()
        Deprecated.
        Description copied from interface: MoveController
        true if the robot is moving
        Specified by:
        isMoving in interface MoveController
        Returns:
        true if the NXT robot is moving.

      • isStalled

        public boolean isStalled()
        Deprecated.

      • reset

        public void reset()
        Deprecated.
        Resets tacho count for both motors.

      • setMinRadius

        public void setMinRadius​(double radius)
        Deprecated.
        Set the radius of the minimum turning circle. Note: A DifferentialPilot robot can simulate a SteeringPilot robot by calling DifferentialPilot.setMinRadius() and setting the value to something greater than zero (example: 15 cm).
        Specified by:
        setMinRadius in interface ArcMoveController
        Parameters:
        radius - in degrees

      • getMinRadius

        public double getMinRadius()
        Deprecated.
        Description copied from interface: ArcMoveController
        The minimum steering radius this vehicle is capable of when traveling in an arc. Theoretically this should be identical for both forward and reverse travel. In practice?
        Specified by:
        getMinRadius in interface ArcMoveController
        Returns:
        the radius in degrees

      • getMovementIncrement

        public float getMovementIncrement()
        Deprecated.
        Returns:
        The move distance since it last started moving

      • getAngleIncrement

        public float getAngleIncrement()
        Deprecated.
        Returns:
        The angle rotated since rotation began.

      • addMoveListener

        public void addMoveListener​(MoveListener m)
        Deprecated.
        Description copied from interface: MoveProvider
        Adds a MoveListener that will be notified of all movement events.
        Specified by:
        addMoveListener in interface MoveProvider
        Parameters:
        m - the move listener

      • getMovement

        public Move getMovement()
        Deprecated.
        Description copied from interface: MoveProvider
        Returns the move made since the move started, but before it has completed. This method is used by GUI maps to display the movement of a robot in real time. The robot must be capable of determining the move while it is in motion.
        Specified by:
        getMovement in interface MoveProvider
        Returns:
        The move made since the move started.

      • getTurnRate

        public double getTurnRate()
        Deprecated.
        Get the turn rate for arc and steer commands
        Returns:
        the turn rate

      • setAngularAcceleration

        public void setAngularAcceleration​(double acceleration)
        Deprecated.
        Description copied from interface: RotateMoveController
        Sets the acceleration at which the robot will accelerate at the start of a move and decelerate at the end of a move. Acceleration is measured in units/second^2. e.g. If wheel diameter is cm, then acceleration is cm/sec^2.

        If acceleration is set during a move it will not be in used for the current move, it will be in effect with the next move.

        Specified by:
        setAngularAcceleration in interface RotateMoveController
        Parameters:
        acceleration - in chosen units/second^2

      • getAngularAcceleration

        public double getAngularAcceleration()
        Deprecated.
        Description copied from interface: RotateMoveController
        Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
        Specified by:
        getAngularAcceleration in interface RotateMoveController
        Returns:
        acceleration in chosen units/second^2