org.myrobotlab.service

Class MobilePlatform

java.lang.Object

org.myrobotlab.framework.MessageService

org.myrobotlab.framework.Service

org.myrobotlab.service.MobilePlatform

All Implemented Interfaces:

java.io.Serializable, java.lang.Runnable, Attachable, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, StateSaver, TypeProvider, QueueReporter

Deprecated.

@Deprecated
public class MobilePlatform
extends Service

Author:

GroG The Chassis service is for general movement control. The criteria for using this service is a 2 motor differential drive and parameters of shape / size of platform. It will probably need relative location of motors and size of wheels. A switch for metric/imperial units of measure would be nice. It will also need feedback interfaces. Some feedback devices could include webcam tracking, motor or wheel encoders, compass, gyros, or accelerometers. Possibly all these feedback devices will resolve into a RelativePosition or AbsolutePosition interface. Possible expectations : motors will have to be local http://en.wikipedia.org/wiki/Dead_reckoning# Differential_steer_drive_dead_reckoning

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
long	beginMotion Deprecated.
java.lang.Float	controlbackLagTime Deprecated.
java.lang.Float	currentTurnRate Deprecated.
long	endMotion Deprecated.
java.lang.Float	feedbackLagTime Deprecated.
java.lang.Double	headingCurrent Deprecated.
java.lang.Double	headingDelta Deprecated.
java.lang.Double	headingLast Deprecated.
java.lang.Double	headingTarget Deprecated.
boolean	inMotion Deprecated.
static org.slf4j.Logger	log Deprecated.
java.lang.Float	minPowerToStartLeft Deprecated.
java.lang.Float	minPowerToStartRight Deprecated.
java.lang.Float	MotorPowerToTurnRatioBoth Deprecated.
java.lang.Float	MotorPowerToTurnRatioLeft Deprecated.
java.lang.Float	MotorPowerToTurnRatioRight Deprecated.
int	positionX Deprecated.
int	positionY Deprecated.
java.lang.Float	speed Deprecated.
int	targetX Deprecated.
int	targetY Deprecated.
long	updateHeadingTime Deprecated.
long	updateHeadingTimeLast Deprecated.
long	updatePositionTime Deprecated.
long	updatePositionTimeLast Deprecated.

Fields inherited from class org.myrobotlab.framework.Service

cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors

Constructor and Description
MobilePlatform(java.lang.String n) Deprecated.

Method Summary

Modifier and Type	Method and Description
void	attach(Motor left, Motor right) Deprecated.
void	calibrate() Deprecated.
MotorControl	getLeftMotor() Deprecated.
static ServiceType	getMetaData() Deprecated. This static method returns all the details of the class without it having to be constructed.
MotorControl	getRightMotor() Deprecated.
static void	main(java.lang.String[] args) Deprecated.
void	move(float power) Deprecated.
void	moveTo(float distance) Deprecated.
MobilePlatform	publishState(MobilePlatform t) Deprecated.
void	setHeading(double value) Deprecated.
void	setLeftMotor(Motor left) Deprecated.
void	setPosition(int x, int y) Deprecated.
void	setRightMotor(Motor right) Deprecated.
void	setTargetHeading(double value) Deprecated.
void	setTargetPosition(int x, int y) Deprecated.
void	spinLeft(float power) Deprecated.
void	spinRight(float power) Deprecated.
void	stop() Deprecated.
void	stopAndLock() Deprecated.
double	waitForHeadingChange() Deprecated.

Methods inherited from class org.myrobotlab.framework.Service

addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, broadcastState, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, detach, echoHeartbeat, error, error, error, getAttached, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, getType, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, purgeTasks, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, startService, stopHeartbeat, stopMsgRecording, stopService, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

log

public static final org.slf4j.Logger log

Deprecated.

positionX

public int positionX

Deprecated.

positionY

public int positionY

Deprecated.

targetX

public int targetX

Deprecated.

targetY

public int targetY

Deprecated.

headingCurrent

public java.lang.Double headingCurrent

Deprecated.

headingTarget

public java.lang.Double headingTarget

Deprecated.

headingLast

public java.lang.Double headingLast

Deprecated.

headingDelta

public java.lang.Double headingDelta

Deprecated.

minPowerToStartRight

public java.lang.Float minPowerToStartRight

Deprecated.

minPowerToStartLeft

public java.lang.Float minPowerToStartLeft

Deprecated.

MotorPowerToTurnRatioRight

public java.lang.Float MotorPowerToTurnRatioRight

Deprecated.

MotorPowerToTurnRatioLeft

public java.lang.Float MotorPowerToTurnRatioLeft

Deprecated.

MotorPowerToTurnRatioBoth

public java.lang.Float MotorPowerToTurnRatioBoth

Deprecated.

currentTurnRate

public java.lang.Float currentTurnRate

Deprecated.

feedbackLagTime

public java.lang.Float feedbackLagTime

Deprecated.

controlbackLagTime

public java.lang.Float controlbackLagTime

Deprecated.

speed

public java.lang.Float speed

Deprecated.

updateHeadingTime

public long updateHeadingTime

Deprecated.

updateHeadingTimeLast

public long updateHeadingTimeLast

Deprecated.

updatePositionTime

public long updatePositionTime

Deprecated.

updatePositionTimeLast

public long updatePositionTimeLast

Deprecated.

beginMotion

public long beginMotion

Deprecated.

endMotion

public long endMotion

Deprecated.

inMotion

public boolean inMotion

Deprecated.

Constructor Detail

MobilePlatform

public MobilePlatform(java.lang.String n)

Deprecated.

Method Detail

attach

public void attach(Motor left,
                   Motor right)

Deprecated.

calibrate

public void calibrate()

Deprecated.

getLeftMotor

public MotorControl getLeftMotor()

Deprecated.

getRightMotor

public MotorControl getRightMotor()

Deprecated.

move

public void move(float power)

Deprecated.

moveTo

public void moveTo(float distance)

Deprecated.

publishState

public MobilePlatform publishState(MobilePlatform t)

Deprecated.

setHeading

public final void setHeading(double value)

Deprecated.

setLeftMotor

public void setLeftMotor(Motor left)

Deprecated.

setPosition

public void setPosition(int x,
                        int y)

Deprecated.

setRightMotor

public void setRightMotor(Motor right)

Deprecated.

setTargetHeading

public void setTargetHeading(double value)

Deprecated.

setTargetPosition

public void setTargetPosition(int x,
                              int y)

Deprecated.

spinLeft

public void spinLeft(float power)

Deprecated.

spinRight

public void spinRight(float power)

Deprecated.

stop

public void stop()

Deprecated.

stopAndLock

public void stopAndLock()

Deprecated.

waitForHeadingChange

public final double waitForHeadingChange()

Deprecated.

getMetaData

public static ServiceType getMetaData()

Deprecated.

This static method returns all the details of the class without it having to be constructed. It has description, categories, dependencies, and peer definitions.

Returns:

ServiceType - returns all the data

main

public static void main(java.lang.String[] args)

Deprecated.