lejos.robotics.navigation.LineFollowingMoveController Maven / Gradle / Ivy
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package lejos.robotics.navigation;
public interface LineFollowingMoveController extends ArcRotateMoveController {
/** 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.
*
* @param 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.
*/
public void steer(double turnRate);
/** 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.
*
* @param 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.
*/
public void steerBackward(double steerRatio);
}