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Control library and protocol for the Robobo-ROB robotic platform.
There is a newer version: 1.1.8
/*******************************************************************************
 *
 *   Copyright 2016 Mytech Ingenieria Aplicada 
 *   Copyright 2016 Julio Gómez 
 *
 *   This file is part of Robobo ROB Interface Library.
 *
 *   Robobo ROB Interface Library is free software: you can redistribute it and/or modify
 *   it under the terms of the GNU Lesser General Public License as published by
 *   the Free Software Foundation, either version 3 of the License, or
 *   (at your option) any later version.
 *
 *   Robobo ROB Interface Library is distributed in the hope that it will be useful,
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *   GNU Lesser General Public License for more details.
 *
 *   You should have received a copy of the GNU Lesser General Public License
 *   along with Robobo ROB Interface Library.  If not, see .
 *
 ******************************************************************************/

package com.mytechia.robobo.rob;


import com.mytechia.commons.framework.simplemessageprotocol.exception.CommunicationException;
import com.mytechia.robobo.util.Color;

import java.util.List;

public interface IRob {

    void setLEDColor(int led, Color color) throws CommunicationException, IllegalArgumentException;

    void setLEDsMode(LEDsModeEnum mode) throws CommunicationException;


    /**
     * Moves the motors by degrees
     * @param angVelR Angular Speed of the right Motor
     * @param angleR Angle of the right Motor
     * @param angVelL Angular Speed of the left Motor
     * @param angleL Angle of the left Motor
     * @throws CommunicationException
     */
    void moveMT(int angVelR, int angleR, int angVelL, int angleL) throws CommunicationException;


    /**
     * Moves the motors by time
     * @param angVelR Angular speed of the right motor
     * @param angVelL Angular speed of the left motor
     * @param time Time in milliseconds
     * @throws CommunicationException
     */

    void moveMT(int angVelR, int angVelL, long time) throws CommunicationException ;

     /** Moves the PAN of the ROB at 'angVel' velocity until reaching 'angle'
      *
      * @param angVel the velocity (0-255)
      * @param angle  the angle (0-90)
      */
    void movePan(int angVel, int angle) throws CommunicationException;



	/** Moves the TILT of the ROB at 'angVel' velocity until reaching 'angle'
	*
	* @param angVel the velocity (0-255)
	* @param angle  the angle (0-90)
	*/
	void moveTilt(int angVel, int angle) throws CommunicationException;


	void setOperationMode(byte operationMode) throws CommunicationException;


	void resetPanTiltOffset() throws CommunicationException;

	List getLastStatusMotors();

	List getLastStatusIRs();

	List getLastGapsStatus();

	List getLastStatusFalls();

	List getLastStatusBumps();

	List getLastStatusObstacles();

	BatteryStatus getLastStatusBattery();

	StopWarningType getLastStopWarning();

	void setRobStatusPeriod(int period) throws CommunicationException;

	void addRobStatusListener(IRobStatusListener listener);

	void addStopWarningListener(IStopWarningListener listener);

	void addRobErrorListener(IRobErrorListener listener);

	void removeStopWarningListener(IStopWarningListener listener);

	void removeRobStatusListener(IRobStatusListener listener);

	void removeRobErrorListener(IRobErrorListener listener);

	void configureInfrared(byte infraredId, byte commandCode, byte dataByteLow, byte dataByteHigh) throws CommunicationException;

	void maxValueMotors(int m1Tension, int m1Time,
					int m2Tension, int m2Time, int panTension, int panTime,
					int tiltTension, int tiltTime) throws CommunicationException;

	void resetRob() throws CommunicationException;

	void changeRobBTName(String name) throws CommunicationException;

	void resetRobBTName() throws CommunicationException;

	void resetWheelEncoders(RobMotorEnum motor) throws CommunicationException;

}