com.dexterind.gopigo.behaviours
Class Motion

java.lang.Object
  com.dexterind.gopigo.behaviours.Motion

public class Motion
extends java.lang.Object

Handles all the methods related to the movement of the GoPigo.

Author:

marcello

Field Summary

private static Board	board The main object which handles the methods to get access to the resources connected to the board.
private Debug	debug The debug object.
java.util.Map<java.lang.String,java.lang.Integer>	directions The HashMap of the directions.
private static Motion	instance The instance of the current object.

Constructor Summary

Motion()

Method Summary

int	backward(boolean usePid) Moves backward the Gopigo.
int	decreaseSpeed() Decreases the speed of both the motors.
int	disableCommunicationTimeout() Disables the communication timeout.
int	enableCommunicationTimeout(int timeout) Enables the communication timeout.
int	forward(boolean usePid) Moves forward the Gopigo.
static Motion	getInstance() Provides a global point of access to the Motion instance.
int	increaseSpeed() Increases the speed of both the motors.
int	left() Moves the Gopigo to the left.
int	leftWithRotation() Rotates the Gopigo to the left.
int	readTimeoutStatus() Reads the timeout status.
int	right() Moves the Gopigo to the right.
int	rightWithRotation() Rotates the Gopigo to the right.
int	setLeftSpeed(int speed) Sets the speed only for the left motor.
int	setRightSpeed(int speed) Sets the speed only for the right motor.
int	setSpeed(int speed) Sets the speed for both the motors.
int	stop() Stops any kind of movement.
double	trimRead() Reads the current Trim value.
double	trimTest(int value) Executes a Trim test.
double	trimWrite(int value) Sets the Trim value.

Methods inherited from class java.lang.Object

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

Field Detail

board

private static Board board

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

instance

private static Motion instance

The instance of the current object.

directions

public java.util.Map<java.lang.String,java.lang.Integer> directions

The HashMap of the directions. It could be useful as helper for rotating the servo motor or the GoPiGo itself.

debug

private Debug debug

The debug object.

Constructor Detail

Motion

public Motion()
       throws java.io.IOException,
              java.lang.InterruptedException

Throws:

java.io.IOException

java.lang.InterruptedException

Method Detail

getInstance

public static Motion getInstance()
                          throws java.io.IOException,
                                 java.lang.InterruptedException

Provides a global point of access to the Motion instance.

Returns:

the Motion instance.

Throws:

java.io.IOException

java.lang.InterruptedException

forward

public int forward(boolean usePid)
            throws java.io.IOException

Moves forward the Gopigo.

Parameters:

usePid - A boolean flag which defines if it's needed to use or not the PID.

Returns:

A status code.

Throws:

java.io.IOException

backward

public int backward(boolean usePid)
             throws java.io.IOException

Moves backward the Gopigo.

Parameters:

usePid - A boolean flag which defines if it's needed to use or not the PID.

Returns:

A status code.

Throws:

java.io.IOException

left

public int left()
         throws java.io.IOException

Moves the Gopigo to the left.

Returns:

A status code.

Throws:

java.io.IOException

leftWithRotation

public int leftWithRotation()
                     throws java.io.IOException

Rotates the Gopigo to the left.

Returns:

A status code.

Throws:

java.io.IOException

right

public int right()
          throws java.io.IOException

Moves the Gopigo to the right.

Returns:

A status code.

Throws:

java.io.IOException

rightWithRotation

public int rightWithRotation()
                      throws java.io.IOException

Rotates the Gopigo to the right.

Returns:

A status code.

Throws:

java.io.IOException

stop

public int stop()
         throws java.io.IOException

Stops any kind of movement.

Returns:

A status code.

Throws:

java.io.IOException

increaseSpeed

public int increaseSpeed()
                  throws java.io.IOException

Increases the speed of both the motors.

Returns:

A status code.

Throws:

java.io.IOException

decreaseSpeed

public int decreaseSpeed()
                  throws java.io.IOException

Decreases the speed of both the motors.

Returns:

A status code.

Throws:

java.io.IOException

setLeftSpeed

public int setLeftSpeed(int speed)
                 throws java.io.IOException

Sets the speed only for the left motor.

Parameters:

speed - A speed value between 0 and 255

Returns:

A status code.

Throws:

java.io.IOException

setRightSpeed

public int setRightSpeed(int speed)
                  throws java.io.IOException

Sets the speed only for the right motor.

Parameters:

speed - A speed value between 0 and 255.

Returns:

A status code.

Throws:

java.io.IOException

setSpeed

public int setSpeed(int speed)
             throws java.io.IOException

Sets the speed for both the motors.

Parameters:

speed - A speed value between 0 and 255

Returns:

A status code.

Throws:

java.io.IOException

trimTest

public double trimTest(int value)
                throws java.io.IOException

Executes a Trim test.

Parameters:

value - The value to test between -100 and 100.

Returns:

A status code.

Throws:

java.io.IOException

trimRead

public double trimRead()
                throws java.io.IOException

Reads the current Trim value.

Returns:

The current Trim value between -100 and 100.

Throws:

java.io.IOException

trimWrite

public double trimWrite(int value)
                 throws java.io.IOException

Sets the Trim value.

Parameters:

value - The Trim value between -100 and 100.

Returns:

A status code.

Throws:

java.io.IOException

readTimeoutStatus

public int readTimeoutStatus()
                      throws java.io.IOException

Reads the timeout status.

Returns:

The timeout value.

Throws:

java.io.IOException

enableCommunicationTimeout

public int enableCommunicationTimeout(int timeout)
                               throws java.io.IOException

Enables the communication timeout.

Parameters:

timeout - The value of the timout.

Returns:

A status code.

Throws:

java.io.IOException

disableCommunicationTimeout

public int disableCommunicationTimeout()
                                throws java.io.IOException

Disables the communication timeout.

Returns:

A status code.

Throws:

java.io.IOException