Package lejos.robotics.navigation

Interface RotateMoveController

All Superinterfaces:

MoveController, MoveProvider

All Known Subinterfaces:

ArcRotateMoveController, LineFollowingMoveController

All Known Implementing Classes:

CompassPilot, DifferentialPilot, MovePilot, OmniPilot, RemoteRequestPilot

public interface RotateMoveController
extends MoveController

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
double	getAngularAcceleration()	Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.
double	getAngularSpeed()	Returns the value of the rotation speed
double	getMaxAngularSpeed()	returns the maximum value of the rotation speed;
void	rotate(double angle)	Rotates the NXT robot the specified number of degrees; direction determined by the sign of the parameter.
void	rotate(double angle, boolean immediateReturn)	Rotates the NXT robot the specified number of degrees; direction determined by the sign of the parameter.
void	rotateLeft()
void	rotateRight()
void	setAngularAcceleration(double acceleration)	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 speed)	sets the rotation speed of the robot (the angular velocity of the rotate() methods)

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

Method Detail

rotate

void rotate(double angle)

Rotates the NXT robot the specified number of degrees; direction determined by the sign of the parameter. Method returns when rotation is done.

Parameters:

angle - The angle to rotate in degrees. A positive value rotates left, a negative value right (clockwise).

rotate

void rotate(double angle,
            boolean immediateReturn)

Rotates the NXT robot the specified number of degrees; direction determined by the sign of the parameter. Method returns immediately if immediateReturn flag is true, otherwise returns when rotation is done.

Parameters:

angle - The angle to rotate in degrees. A positive value rotates left, a negative value right (clockwise).

immediateReturn - If true, method returns immediately, otherwise blocks until rotation is complete.

setAngularSpeed

void setAngularSpeed(double speed)

sets the rotation speed of the robot (the angular velocity of the rotate() methods)

Parameters:

speed - in degrees per second

getAngularSpeed

double getAngularSpeed()

Returns the value of the rotation speed

Returns:

the rotate speed in degrees per second

getMaxAngularSpeed

double getMaxAngularSpeed()

returns the maximum value of the rotation speed;

Returns:

max rotation speed

setAngularAcceleration

void setAngularAcceleration(double acceleration)

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.

Parameters:

acceleration - in chosen units/second^2

getAngularAcceleration

double getAngularAcceleration()

Returns the acceleration at which the robot accelerates at the start of a move and decelerates at the end of a move.

Returns:

acceleration in chosen units/second^2

rotateRight

void rotateRight()

rotateLeft

void rotateLeft()