com.dexterind.gopigo
Class Gopigo

java.lang.Object
  com.dexterind.gopigo.Gopigo

public final class Gopigo
extends java.lang.Object

The main class for the Gopigo. It instanciates all the components and behaviours and is in charge to handle the events.

Author:

marcello

Field Summary

Board	board The main object which handles the methods to get access to the resources connected to the board.
private double	criticalVoltage The critical voltage value.
private Debug	debug The debug object.
Encoders	encoders The encoders.
private static Gopigo	instance The instance of the current object.
IRReceiverSensor	irReceiverSensor The IR Receiver sensor.
private boolean	isHalt The flag for the halted status.
private boolean	isInit The flag for the initialized status.
Led	ledLeft The left led.
Led	ledRight The right led.
private java.util.concurrent.CopyOnWriteArrayList<GopigoListener>	listeners The list of the listeners which are listening for some event.
private double	minVoltage The minimum voltage value.
Motion	motion The motion behaviour object.
Motor	motorLeft The left motor.
Motor	motorRight The right motor.
Servo	servo The servo motor.
UltraSonicSensor	ultraSonicSensor The ultrasonic sensor.
private java.util.Timer	voltageTimer The timer which will be in charge to check the voltage value.
private int	voltageTimerTime The time in milliseconds between successive task executions.

Constructor Summary

Gopigo()
Instanciates the components and the behaviours of the Gopigo.

Method Summary

void	addListener(GopigoListener listener) Adds a GopigoListener to the listeners list.
protected void	fireEvent(java.util.EventObject event) Fires an event to the listeners.
void	free() Sets the GoPiGo free.
java.lang.Double	getCriticalVoltage() Returns the critical voltage value.
static Gopigo	getInstance() Provides a global point of access to the Gopigo instance.
java.lang.Double	getMinVoltage() Returns the min. voltage value.
void	halt() Halts the GoPiGo if necessary.
void	init() Initializes the Gopigo and fires an event once the init is done.
private void	initVoltageCheck() Initializes a timer which will checks the voltage and will fires and event in case of low voltage.
java.lang.Boolean	isHalt() It returns the halt status.
java.lang.Boolean	isOperative() It returns the operativity status.
void	onHalt() Fires a "HALT" StatusEvent
void	removeListener(GopigoListener listener) Removes a GopigoListener from the listeners list.
void	reset() Resets the Gopigo.
void	setCriticalVoltage(double value) Sets the critical voltage value.
void	setMinVoltage(double value) Sets the min. voltage value.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

instance

private static Gopigo instance

The instance of the current object.

isInit

private boolean isInit

The flag for the initialized status.

isHalt

private boolean isHalt

The flag for the halted status.

voltageTimer

private java.util.Timer voltageTimer

The timer which will be in charge to check the voltage value.

voltageTimerTime

private int voltageTimerTime

The time in milliseconds between successive task executions.

minVoltage

private double minVoltage

The minimum voltage value. If the voltage drops under this value a VoltageEvent will be fired.

criticalVoltage

private double criticalVoltage

The critical voltage value. If the voltage drops under this value a VoltageEvent will be fired and the GoPiGo will be flagged as "halted".

board

public Board board

The main object which handles the methods to get access to the resources connected to the board.

encoders

public Encoders encoders

The encoders.

servo

public Servo servo

The servo motor.

ultraSonicSensor

public UltraSonicSensor ultraSonicSensor

The ultrasonic sensor.

irReceiverSensor

public IRReceiverSensor irReceiverSensor

The IR Receiver sensor.

ledLeft

public Led ledLeft

The left led.

ledRight

public Led ledRight

The right led.

motorLeft

public Motor motorLeft

The left motor.

motorRight

public Motor motorRight

The right motor.

motion

public Motion motion

The motion behaviour object.

listeners

private final java.util.concurrent.CopyOnWriteArrayList<GopigoListener> listeners

The list of the listeners which are listening for some event.

debug

private Debug debug

The debug object.

Constructor Detail

Gopigo

public Gopigo()

Instanciates the components and the behaviours of the Gopigo.

Method Detail

getInstance

public static Gopigo getInstance()

Provides a global point of access to the Gopigo instance.

Returns:

the Gopigo instance.

init

public void init()

Initializes the Gopigo and fires an event once the init is done.

reset

public void reset()
           throws java.io.IOException

Resets the Gopigo.

Throws:

java.io.IOException

addListener

public void addListener(GopigoListener listener)

Adds a GopigoListener to the listeners list.

Parameters:

listener - The GopigoListener to register.

removeListener

public void removeListener(GopigoListener listener)

Removes a GopigoListener from the listeners list.

Parameters:

listener - The GopigoListener to remove.

fireEvent

protected void fireEvent(java.util.EventObject event)

Fires an event to the listeners.

Parameters:

event - The event to fire.

initVoltageCheck

private void initVoltageCheck()

Initializes a timer which will checks the voltage and will fires and event in case of low voltage.

free

public void free()

Sets the GoPiGo free. It removes the "halted" flag if necessary.

isOperative

public java.lang.Boolean isOperative()

It returns the operativity status.

Returns:

True if operative, False if not.

halt

public void halt()

Halts the GoPiGo if necessary.

isHalt

public java.lang.Boolean isHalt()

It returns the halt status.

Returns:

True if halted, False if not.

onHalt

public void onHalt()

Fires a "HALT" StatusEvent

setMinVoltage

public void setMinVoltage(double value)

Sets the min. voltage value.

Parameters:

value - The minimum voltage value to set.

getMinVoltage

public java.lang.Double getMinVoltage()

Returns the min. voltage value.

Returns:

The min. voltage value.

setCriticalVoltage

public void setCriticalVoltage(double value)

Sets the critical voltage value. Under this value the GoPiGo will be flagged as "halted".

Parameters:

value - The critical voltage value to set.

getCriticalVoltage

public java.lang.Double getCriticalVoltage()

Returns the critical voltage value.

Returns:

The Critical voltage value.