lejos.robotics.navigation.ArcMoveController Maven / Gradle / Ivy
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package lejos.robotics.navigation;
/**
* An enhanced MoveController that is capable of traveling in arcs.
* @author NXJ Team
*
*/
public interface ArcMoveController extends MoveController {
/**
* 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?
*
* @return the radius in degrees
*/
public double getMinRadius();
/**
* Set the radius of the minimum turning circle.
*
* @param radius the radius in degrees
*/
public void setMinRadius(double radius);
/**
* 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.
*
* @param 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.
*/
public void arcForward(double radius);
/**
* 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.
*
* @param 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.
*/
public void arcBackward(double radius);
/**
* 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.
*
* @param 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.
* @param angle The sign of the angle determines the direction of the robot turns: Positive is anti-clockwise, negative is clockwise.
* @see #travelArc(double, double)
*/
public void arc(double radius, double angle);
/**
* 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.
*
* @param 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.
* @param angle The sign of the angle determines the direction of the robot turns: Positive is anti-clockwise, negative is clockwise.
* @param immediateReturn If immediateReturn is true then the method returns immediately.
* @see #travelArc(double, double, boolean)
*/
public void arc(double radius, double angle, boolean immediateReturn);
/**
* 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.
*
*
* @param 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.
* @param 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 #arc(double, double)
*
*/
public void travelArc(double radius, double distance);
/**
* 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.
*
*
* @param 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.
* @param 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.
* @param immediateReturn If immediateReturn is true then the method returns immediately.
* @see #arc(double, double, boolean)
*
*/
public void travelArc(double radius, double distance, boolean immediateReturn);
}