lejos.navigation
Class CompassNavigator

java.lang.Object
  lejos.navigation.SimpleNavigator
      lejos.navigation.CompassNavigator

All Implemented Interfaces:

Navigator

public class CompassNavigator
extends SimpleNavigator

The CompassNavigatort class, like its superclass, can keep track of the robot position and the direction angle it faces. It uses a CompassPilot object to control NXT robot movements.
The position and direction angle values are updated automatically when the movement command returns after the movement is complete and and after stop() command is issued. However, some commands optionally return immediately, to permit sensor monitoring in the main thread. It is then the programmers responsibility to call updateXY() when the robot motion is completed. All angles are in degrees, distances in the units used to specify robot dimensions. As with pilot, the robot must be have two independently controlled drive wheels. Uses the Compass Sensor to determine the robot heading.

Constructor Summary

CompassNavigator(CompassPilot pilot)
To use this constructor, you must first create a compass pilot.

CompassNavigator(CompassSensor compass, float wheelDiameter, float trackWidth, Motor leftMotor, Motor rightMotor)

CompassNavigator(CompassSensor compass, float wheelDiameter, float trackWidth, Motor leftMotor, Motor rightMotor, boolean reverse)

CompassNavigator(SensorPort compassPort, float wheelDiameter, float trackWidth, Motor leftMotor, Motor rightMotor)
Allocates a CompassNavigator objects and its CompassPilot object and initializes it with the proper motors and dimensions.

CompassNavigator(SensorPort compassPort, float wheelDiameter, float trackWidth, Motor leftMotor, Motor rightMotor, boolean reverse)

Method Summary

void	calibrateCompass() Robot rotates 360 degrees while calibrating the compass sensor

Methods inherited from class lejos.navigation.SimpleNavigator

angleTo, backward, distanceTo, forward, getAngle, getPilot, getX, getY, goTo, goTo, isMoving, rotate, rotate, rotateLeft, rotateRight, rotateTo, rotateTo, setMoveSpeed, setPosition, setSpeed, setTurnSpeed, stop, travel, travel, turn, turn, turn, updatePosition

Methods inherited from class java.lang.Object

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

Constructor Detail

CompassNavigator

public CompassNavigator(SensorPort compassPort,
                        float wheelDiameter,
                        float trackWidth,
                        Motor leftMotor,
                        Motor rightMotor)

Allocates a CompassNavigator objects and its CompassPilot object and initializes it with the proper motors and dimensions. This is a subclass of SimpleNavigator (see that API for other methods). The x and y values and the direction angle are all initialized to 0, so if the first move is forward() the robot will run along the x axis.

Parameters:

compassPort - the sensor port connected to the compass sensor e.g SensorPort.S1

wheelDiameter - The diameter of the wheel, usually printed right on the wheel, in centimeters (e.g. 49.6 mm = 4.96 cm = 1.95 in)

trackWidth - The distance from the center of the left tire to the center of the right tire, in units of your choice

rightMotor - The motor used to drive the right wheel e.g. Motor.C.

leftMotor - The motor used to drive the left wheel e.g. Motor.A.

CompassNavigator

public CompassNavigator(SensorPort compassPort,
                        float wheelDiameter,
                        float trackWidth,
                        Motor leftMotor,
                        Motor rightMotor,
                        boolean reverse)

CompassNavigator

public CompassNavigator(CompassSensor compass,
                        float wheelDiameter,
                        float trackWidth,
                        Motor leftMotor,
                        Motor rightMotor,
                        boolean reverse)

CompassNavigator

public CompassNavigator(CompassSensor compass,
                        float wheelDiameter,
                        float trackWidth,
                        Motor leftMotor,
                        Motor rightMotor)

CompassNavigator

public CompassNavigator(CompassPilot pilot)

To use this constructor, you must first create a compass pilot.

Parameters:

compassPilot -

Method Detail

calibrateCompass

public void calibrateCompass()

Robot rotates 360 degrees while calibrating the compass sensor