Package lejos.robotics.navigation

Interface LineFollowingMoveController

All Superinterfaces:

ArcMoveController, ArcRotateMoveController, MoveController, MoveProvider, RotateMoveController

All Known Implementing Classes:

CompassPilot, DifferentialPilot

public interface LineFollowingMoveController
extends ArcRotateMoveController

Field Summary

Fields inherited from interface lejos.robotics.navigation.MoveController

WHEEL_SIZE_EV3, WHEEL_SIZE_NXT1, WHEEL_SIZE_NXT2, WHEEL_SIZE_RCX

Method Summary

Modifier and Type	Method	Description
void	steer(double turnRate)	Moves the robot forward while making a curve specified by turnRate.
void	steerBackward(double steerRatio)	Moves the robot backward while making a curve specified by turnRate.

Methods inherited from interface lejos.robotics.navigation.ArcMoveController

arc, arc, arcBackward, arcForward, getMinRadius, setMinRadius, travelArc, travelArc

Methods inherited from interface lejos.robotics.navigation.MoveController

backward, forward, getLinearAcceleration, getLinearSpeed, getMaxLinearSpeed, isMoving, setLinearAcceleration, setLinearSpeed, stop, travel, travel

Methods inherited from interface lejos.robotics.navigation.MoveProvider

addMoveListener, getMovement

Methods inherited from interface lejos.robotics.navigation.RotateMoveController

getAngularAcceleration, getAngularSpeed, getMaxAngularSpeed, rotate, rotate, rotateLeft, rotateRight, setAngularAcceleration, setAngularSpeed

Method Detail

steer

void steer(double turnRate)

Moves the robot forward while making a curve specified by turnRate.

This move is suited for line following as it executes immediately without stopping the move that the robot is currently executing. It is also non blocking, control goes back to the main program right way.

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.

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

void steerBackward(double steerRatio)

Moves the robot backward while making a curve specified by turnRate.

This move is suited for line following as it executes immediately without stopping the move that the robot is currently executing. It is also non blocking, control goes back to the main program right way.

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.

Parameters:

steerRatio - If positive, the left side of the robot is on the inside of the turn. If negative, the left side is on the outside.