com.github.c77.base_driver.create.CreateBaseDevice Class Reference

Inheritance diagram for com.github.c77.base_driver.create.CreateBaseDevice:

List of all members.

Classes
class	BaseSpeedValues
Public Member Functions
	CreateBaseDevice (UsbSerialDriver driver)
BaseStatus	getBaseStatus ()
OdometryStatus	getOdometryStatus ()
void	initialize ()
void	move (double linearVelX, double angVelZ)
Private Member Functions
void	sendMovementPackage (BaseSpeedValues speeds)
BaseSpeedValues	twistToBase (double linearVelX, double angVelZ)
void	write (byte[] command)
Private Attributes
Double	createBaseDiameter = 0.33
Double	createWheelRadius = 0.04
final byte	DirectDrive = (byte) 145
final byte	FullMode = (byte) 132
final byte	SetBaudrate57600 = (byte) 5
final byte	Start = (byte) 128
Static Private Attributes
static UsbSerialDriver	device = null
static final Log	log = LogFactory.getLog(CreateBaseDevice.class)

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Detailed Description

Definition at line 33 of file CreateBaseDevice.java.

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Constructor & Destructor Documentation

com.github.c77.base_driver.create.CreateBaseDevice.CreateBaseDevice

(

UsbSerialDriver

driver

)

[inline]

Definition at line 65 of file CreateBaseDevice.java.

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Member Function Documentation

BaseStatus com.github.c77.base_driver.create.CreateBaseDevice.getBaseStatus

(

)

[inline]

Not implemented for the create base.

Returns:

: Always 0 for all variables.

Implements com.github.c77.base_driver.BaseDevice.

Definition at line 141 of file CreateBaseDevice.java.

OdometryStatus com.github.c77.base_driver.create.CreateBaseDevice.getOdometryStatus

(

)

[inline]

Implements com.github.c77.base_driver.BaseDevice.

Definition at line 146 of file CreateBaseDevice.java.

void com.github.c77.base_driver.create.CreateBaseDevice.initialize

(

)

[inline]

initialize the base. This method should is called by the node before sending movement commands.

Implements com.github.c77.base_driver.BaseDevice.

Definition at line 82 of file CreateBaseDevice.java.

void com.github.c77.base_driver.create.CreateBaseDevice.move	(	double	linearVelX,
		double	angVelZ
	)		[inline]

moves the base. The argument values are the ones transmitted in a twist message.

Parameters:

linearVelX,:	linear speed
angVelZ,:	rotational speed

Implements com.github.c77.base_driver.BaseDevice.

Definition at line 89 of file CreateBaseDevice.java.

void com.github.c77.base_driver.create.CreateBaseDevice.sendMovementPackage

(

BaseSpeedValues

speeds

)

[inline, private]

Definition at line 113 of file CreateBaseDevice.java.

BaseSpeedValues com.github.c77.base_driver.create.CreateBaseDevice.twistToBase	(	double	linearVelX,
		double	angVelZ
	)		[inline, private]

Definition at line 94 of file CreateBaseDevice.java.

void com.github.c77.base_driver.create.CreateBaseDevice.write

(

byte[]

command

)

[inline, private]

Definition at line 128 of file CreateBaseDevice.java.

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Member Data Documentation

Double com.github.c77.base_driver.create.CreateBaseDevice.createBaseDiameter = 0.33 [private]

Definition at line 35 of file CreateBaseDevice.java.

Double com.github.c77.base_driver.create.CreateBaseDevice.createWheelRadius = 0.04 [private]

Definition at line 36 of file CreateBaseDevice.java.

UsbSerialDriver com.github.c77.base_driver.create.CreateBaseDevice.device = null [static, private]

Definition at line 37 of file CreateBaseDevice.java.

final byte com.github.c77.base_driver.create.CreateBaseDevice.DirectDrive = (byte) 145 [private]

Definition at line 43 of file CreateBaseDevice.java.

final byte com.github.c77.base_driver.create.CreateBaseDevice.FullMode = (byte) 132 [private]

Definition at line 42 of file CreateBaseDevice.java.

final Log com.github.c77.base_driver.create.CreateBaseDevice.log = LogFactory.getLog(CreateBaseDevice.class) [static, private]

Definition at line 63 of file CreateBaseDevice.java.

final byte com.github.c77.base_driver.create.CreateBaseDevice.SetBaudrate57600 = (byte) 5 [private]

Definition at line 39 of file CreateBaseDevice.java.

final byte com.github.c77.base_driver.create.CreateBaseDevice.Start = (byte) 128 [private]

Definition at line 41 of file CreateBaseDevice.java.

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The documentation for this class was generated from the following file:

• CreateBaseDevice.java