com.github.c77.base_driver.kobuki.KobukiBaseDevice Class Reference

Inheritance diagram for com.github.c77.base_driver.kobuki.KobukiBaseDevice:

List of all members.

Classes
class	BaseSpeedValues
Public Member Functions
BaseStatus	getBaseStatus ()
OdometryStatus	getOdometryStatus ()
void	initialize ()
	KobukiBaseDevice (UsbSerialDriver driver) throws Exception
void	move (double linearVelX, double angVelZ)
Package Functions
byte[]	buildPackage (byte[] payload)
byte	checkSum (byte[] cmdPackage)
Private Member Functions
void	sendMovementPackage (BaseSpeedValues speeds)
void	sendSoundPackage (int sound)
BaseSpeedValues	twistToBase (double linearVelX, double angVelZ)
void	updateReceivedData (final byte[] bytes)
void	write (byte[] command)
Private Attributes
final byte	BaseControl = (byte) 0x01
BaseStatus	baseStatus = new BaseStatus()
final byte	Header0 = (byte) 0xAA
final byte	Header1 = (byte) 0x55
KobukiOdometryStatus	odometryStatus = new KobukiOdometryStatus()
final KobukiPacketParser	packetParser = new KobukiPacketParser()
final KobukiPacketReader	packetReader = new KobukiPacketReader()
final UsbSerialDriver	serialDriver
final byte	SetBaudrate115200 = (byte) 6
final byte	SoundSequence = (byte) 0x04
Static Private Attributes
static final Log	log = LogFactory.getLog(KobukiBaseDevice.class)

---

Detailed Description

Definition at line 39 of file KobukiBaseDevice.java.

---

Constructor & Destructor Documentation

com.github.c77.base_driver.kobuki.KobukiBaseDevice.KobukiBaseDevice

(

UsbSerialDriver

driver

)

throws Exception [inline]

Definition at line 75 of file KobukiBaseDevice.java.

---

Member Function Documentation

byte [] com.github.c77.base_driver.kobuki.KobukiBaseDevice.buildPackage

(

byte[]

payload

)

[inline, package]

Definition at line 206 of file KobukiBaseDevice.java.

byte com.github.c77.base_driver.kobuki.KobukiBaseDevice.checkSum

(

byte[]

cmdPackage

)

[inline, package]

Definition at line 197 of file KobukiBaseDevice.java.

BaseStatus com.github.c77.base_driver.kobuki.KobukiBaseDevice.getBaseStatus

(

)

[inline]

Returns:

: The base status updated with the latest base information.

Implements com.github.c77.base_driver.BaseDevice.

Definition at line 113 of file KobukiBaseDevice.java.

OdometryStatus com.github.c77.base_driver.kobuki.KobukiBaseDevice.getOdometryStatus

(

)

[inline]

Implements com.github.c77.base_driver.BaseDevice.

Definition at line 118 of file KobukiBaseDevice.java.

void com.github.c77.base_driver.kobuki.KobukiBaseDevice.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 129 of file KobukiBaseDevice.java.

void com.github.c77.base_driver.kobuki.KobukiBaseDevice.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 134 of file KobukiBaseDevice.java.

void com.github.c77.base_driver.kobuki.KobukiBaseDevice.sendMovementPackage

(

BaseSpeedValues

speeds

)

[inline, private]

Definition at line 171 of file KobukiBaseDevice.java.

void com.github.c77.base_driver.kobuki.KobukiBaseDevice.sendSoundPackage

(

int

sound

)

[inline, private]

Definition at line 187 of file KobukiBaseDevice.java.

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

Definition at line 139 of file KobukiBaseDevice.java.

void com.github.c77.base_driver.kobuki.KobukiBaseDevice.updateReceivedData

(

final byte[]

bytes

)

[inline, private]

Definition at line 122 of file KobukiBaseDevice.java.

void com.github.c77.base_driver.kobuki.KobukiBaseDevice.write

(

byte[]

command

)

[inline, private]

Definition at line 220 of file KobukiBaseDevice.java.

---

Member Data Documentation

final byte com.github.c77.base_driver.kobuki.KobukiBaseDevice.BaseControl = (byte) 0x01 [private]

Definition at line 45 of file KobukiBaseDevice.java.

BaseStatus com.github.c77.base_driver.kobuki.KobukiBaseDevice.baseStatus = new BaseStatus() [private]

Definition at line 50 of file KobukiBaseDevice.java.

final byte com.github.c77.base_driver.kobuki.KobukiBaseDevice.Header0 = (byte) 0xAA [private]

Definition at line 43 of file KobukiBaseDevice.java.

final byte com.github.c77.base_driver.kobuki.KobukiBaseDevice.Header1 = (byte) 0x55 [private]

Definition at line 44 of file KobukiBaseDevice.java.

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

Definition at line 53 of file KobukiBaseDevice.java.

KobukiOdometryStatus com.github.c77.base_driver.kobuki.KobukiBaseDevice.odometryStatus = new KobukiOdometryStatus() [private]

Definition at line 51 of file KobukiBaseDevice.java.

final KobukiPacketParser com.github.c77.base_driver.kobuki.KobukiBaseDevice.packetParser = new KobukiPacketParser() [private]

Definition at line 49 of file KobukiBaseDevice.java.

final KobukiPacketReader com.github.c77.base_driver.kobuki.KobukiBaseDevice.packetReader = new KobukiPacketReader() [private]

Definition at line 48 of file KobukiBaseDevice.java.

final UsbSerialDriver com.github.c77.base_driver.kobuki.KobukiBaseDevice.serialDriver [private]

Definition at line 55 of file KobukiBaseDevice.java.

final byte com.github.c77.base_driver.kobuki.KobukiBaseDevice.SetBaudrate115200 = (byte) 6 [private]

Definition at line 41 of file KobukiBaseDevice.java.

final byte com.github.c77.base_driver.kobuki.KobukiBaseDevice.SoundSequence = (byte) 0x04 [private]

Definition at line 46 of file KobukiBaseDevice.java.

---

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

• KobukiBaseDevice.java