com.github.c77.base_driver.husky.HuskyBaseDevice Class Reference

Inheritance diagram for com.github.c77.base_driver.husky.HuskyBaseDevice:

List of all members.

Public Member Functions
BaseStatus	getBaseStatus ()
OdometryStatus	getOdometryStatus ()
	HuskyBaseDevice (UsbSerialDriver driver)
void	initialize ()
void	move (double linearVelX, double angVelZ)
Package Functions
byte[]	buildPackage (byte[] payload)
Package Attributes
HuskyOdometryStatus	odometryStatus = new HuskyOdometryStatus()
HuskyPacketReader	packetReader = new HuskyPacketReader()
Private Member Functions
void	sendEncodersRequest ()
void	sendMovementPackage (int linearSpeed, int angSpeed)
void	updateReceivedData (final byte[] bytes)
void	write (byte[] command)
Static Private Member Functions
static int	scaleAndLimitSpeed (double speed)
Private Attributes
final long	initialTime
final UsbSerialDriver	serialDriver
Static Private Attributes
static final Log	log = LogFactory.getLog(HuskyBaseDevice.class)
static final byte	PROTOCOL_VERSION = (byte) 0x1
static final byte	SOH = (byte) 0xAA
static final double	SPEED_LIMIT = 100.0
static final double	SPEED_SCALE = 100.0
static final byte	STX = (byte) 0x55

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Detailed Description

Definition at line 37 of file HuskyBaseDevice.java.

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Constructor & Destructor Documentation

com.github.c77.base_driver.husky.HuskyBaseDevice.HuskyBaseDevice

(

UsbSerialDriver

driver

)

[inline]

Definition at line 69 of file HuskyBaseDevice.java.

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Member Function Documentation

byte [] com.github.c77.base_driver.husky.HuskyBaseDevice.buildPackage

(

byte[]

payload

)

[inline, package]

Builds a correctly-formatted Husky package

Definition at line 203 of file HuskyBaseDevice.java.

BaseStatus com.github.c77.base_driver.husky.HuskyBaseDevice.getBaseStatus

(

)

[inline]

Returns:

: The base status updated with the latest base information.

Implements com.github.c77.base_driver.BaseDevice.

Definition at line 57 of file HuskyBaseDevice.java.

OdometryStatus com.github.c77.base_driver.husky.HuskyBaseDevice.getOdometryStatus

(

)

[inline]

Implements com.github.c77.base_driver.BaseDevice.

Definition at line 64 of file HuskyBaseDevice.java.

void com.github.c77.base_driver.husky.HuskyBaseDevice.initialize

(

)

[inline]

Initializes the Husky base device

Implements com.github.c77.base_driver.BaseDevice.

Definition at line 141 of file HuskyBaseDevice.java.

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

Move the Husky base device with the given speeds

Parameters:

linearVelX,:	linear speed
angVelZ,:	rotational speed

Implements com.github.c77.base_driver.BaseDevice.

Definition at line 153 of file HuskyBaseDevice.java.

static int com.github.c77.base_driver.husky.HuskyBaseDevice.scaleAndLimitSpeed

(

double

speed

)

[inline, static, private]

Definition at line 161 of file HuskyBaseDevice.java.

void com.github.c77.base_driver.husky.HuskyBaseDevice.sendEncodersRequest

(

)

[inline, private]

Request publishing of encoder information from the Husky base

Definition at line 168 of file HuskyBaseDevice.java.

void com.github.c77.base_driver.husky.HuskyBaseDevice.sendMovementPackage	(	int	linearSpeed,
		int	angSpeed
	)		[inline, private]

Sends a movement command to the Husky base

Definition at line 179 of file HuskyBaseDevice.java.

void com.github.c77.base_driver.husky.HuskyBaseDevice.updateReceivedData

(

final byte[]

bytes

)

[inline, private]

Called every time there is new data received through the USB-serial interface

Definition at line 111 of file HuskyBaseDevice.java.

void com.github.c77.base_driver.husky.HuskyBaseDevice.write

(

byte[]

command

)

[inline, private]

Writes bytes to the underlying device

Parameters:

command

Byte buffer

Definition at line 239 of file HuskyBaseDevice.java.

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Member Data Documentation

final long com.github.c77.base_driver.husky.HuskyBaseDevice.initialTime [private]

Definition at line 38 of file HuskyBaseDevice.java.

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

Definition at line 52 of file HuskyBaseDevice.java.

HuskyOdometryStatus com.github.c77.base_driver.husky.HuskyBaseDevice.odometryStatus = new HuskyOdometryStatus() [package]

Definition at line 41 of file HuskyBaseDevice.java.

HuskyPacketReader com.github.c77.base_driver.husky.HuskyBaseDevice.packetReader = new HuskyPacketReader() [package]

Definition at line 40 of file HuskyBaseDevice.java.

final byte com.github.c77.base_driver.husky.HuskyBaseDevice.PROTOCOL_VERSION = (byte) 0x1 [static, private]

Definition at line 45 of file HuskyBaseDevice.java.

final UsbSerialDriver com.github.c77.base_driver.husky.HuskyBaseDevice.serialDriver [private]

Definition at line 55 of file HuskyBaseDevice.java.

final byte com.github.c77.base_driver.husky.HuskyBaseDevice.SOH = (byte) 0xAA [static, private]

Definition at line 44 of file HuskyBaseDevice.java.

final double com.github.c77.base_driver.husky.HuskyBaseDevice.SPEED_LIMIT = 100.0 [static, private]

Definition at line 49 of file HuskyBaseDevice.java.

final double com.github.c77.base_driver.husky.HuskyBaseDevice.SPEED_SCALE = 100.0 [static, private]

Definition at line 50 of file HuskyBaseDevice.java.

final byte com.github.c77.base_driver.husky.HuskyBaseDevice.STX = (byte) 0x55 [static, private]

Definition at line 46 of file HuskyBaseDevice.java.

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

• HuskyBaseDevice.java