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7 Navigator (leJOS NXT API documentation)
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87 lejos.navigation</FONT>
89 Interface Navigator</H2>
91 <DT><B>All Known Implementing Classes:</B> <DD><A HREF="../../lejos/navigation/CompassNavigator.html" title="class in lejos.navigation">CompassNavigator</A>, <A HREF="../../lejos/navigation/TachoNavigator.html" title="class in lejos.navigation">TachoNavigator</A></DD>
95 <DT><PRE>public interface <B>Navigator</B></DL>
99 The Navigator interface contains methods for performing basic navigational
100 movements. Normally the Navigator class is instantiated as an object and
101 methods are called on that object.
103 Note: This class will only work for robots using two motors to steer differentially
104 that can rotate within its footprint (i.e. turn on one spot).
105 Modified by Roger Glassey 29 Jan 2007
110 <DT><B>Version:</B></DT>
111 <DD>0.2 - Jan-2007</DD>
112 <DT><B>Author:</B></DT>
113 <DD><a href="mailto:bbagnall@escape.ca">Brian Bagnall</a></DD>
119 <!-- ========== METHOD SUMMARY =========== -->
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125 <B>Method Summary</B></FONT></TH>
127 <TR BGCOLOR="white" CLASS="TableRowColor">
128 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
129 <CODE> float</CODE></FONT></TD>
130 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#angleTo(float, float)">angleTo</A></B>(float x,
134 returns the direction angle (degrees) to the point with coordinates (x,y)</TD>
136 <TR BGCOLOR="white" CLASS="TableRowColor">
137 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
138 <CODE> void</CODE></FONT></TD>
139 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#backward()">backward</A></B>()</CODE>
142 Moves the NXT robot backward until stop() is called.</TD>
144 <TR BGCOLOR="white" CLASS="TableRowColor">
145 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
146 <CODE> float</CODE></FONT></TD>
147 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#distanceTo(float, float)">distanceTo</A></B>(float x,
151 returns the distance from robot to the point with coordinates (x,y) .</TD>
153 <TR BGCOLOR="white" CLASS="TableRowColor">
154 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
155 <CODE> void</CODE></FONT></TD>
156 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#forward()">forward</A></B>()</CODE>
159 Moves the NXT robot forward until stop() is called.</TD>
161 <TR BGCOLOR="white" CLASS="TableRowColor">
162 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
163 <CODE> float</CODE></FONT></TD>
164 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#getAngle()">getAngle</A></B>()</CODE>
167 Returns the current angle the NXT robot is facing.</TD>
169 <TR BGCOLOR="white" CLASS="TableRowColor">
170 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
171 <CODE> float</CODE></FONT></TD>
172 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#getX()">getX</A></B>()</CODE>
175 Returns the current x coordinate of the NXT.</TD>
177 <TR BGCOLOR="white" CLASS="TableRowColor">
178 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
179 <CODE> float</CODE></FONT></TD>
180 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#getY()">getY</A></B>()</CODE>
183 Returns the current y coordinate of the NXT.</TD>
185 <TR BGCOLOR="white" CLASS="TableRowColor">
186 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
187 <CODE> void</CODE></FONT></TD>
188 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#goTo(float, float)">goTo</A></B>(float x,
192 Rotates the NXT robot towards the target point and moves the required distance.</TD>
194 <TR BGCOLOR="white" CLASS="TableRowColor">
195 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
196 <CODE> void</CODE></FONT></TD>
197 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#goTo(float, float, boolean)">goTo</A></B>(float x,
199 boolean immediateReturn)</CODE>
202 Rotates the NXT robot towards the target point and moves the required distance.</TD>
204 <TR BGCOLOR="white" CLASS="TableRowColor">
205 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
206 <CODE> boolean</CODE></FONT></TD>
207 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#isMoving()">isMoving</A></B>()</CODE>
210 returns true iff the robot is moving under power</TD>
212 <TR BGCOLOR="white" CLASS="TableRowColor">
213 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
214 <CODE> void</CODE></FONT></TD>
215 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#rotate(float)">rotate</A></B>(float angle)</CODE>
218 Rotates the NXT robot a specific number of degrees in a direction (+ or -).This
219 method will return once the rotation is complete.</TD>
221 <TR BGCOLOR="white" CLASS="TableRowColor">
222 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
223 <CODE> void</CODE></FONT></TD>
224 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#rotate(float, boolean)">rotate</A></B>(float angle,
225 boolean immediateReturn)</CODE>
228 Rotates the NXT robot a specific number of degrees in a direction (+ or -).</TD>
230 <TR BGCOLOR="white" CLASS="TableRowColor">
231 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
232 <CODE> void</CODE></FONT></TD>
233 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#rotateLeft()">rotateLeft</A></B>()</CODE>
236 Rotates the NXT to the left (increasing angle) until stop() is called;</TD>
238 <TR BGCOLOR="white" CLASS="TableRowColor">
239 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
240 <CODE> void</CODE></FONT></TD>
241 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#rotateRight()">rotateRight</A></B>()</CODE>
244 Rotates the NXT to the right (decreasing angle) until stop() is called;</TD>
246 <TR BGCOLOR="white" CLASS="TableRowColor">
247 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
248 <CODE> void</CODE></FONT></TD>
249 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#rotateTo(float)">rotateTo</A></B>(float angle)</CODE>
252 Rotates the NXT robot to point in a specific direction.</TD>
254 <TR BGCOLOR="white" CLASS="TableRowColor">
255 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
256 <CODE> void</CODE></FONT></TD>
257 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#rotateTo(float, boolean)">rotateTo</A></B>(float angle,
258 boolean immediateReturn)</CODE>
261 Rotates the NXT robot to point in a specific direction.</TD>
263 <TR BGCOLOR="white" CLASS="TableRowColor">
264 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
265 <CODE> void</CODE></FONT></TD>
266 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#setPosition(float, float, float)">setPosition</A></B>(float x,
268 float directionAngle)</CODE>
271 sets robot location (x,y) and direction angle</TD>
273 <TR BGCOLOR="white" CLASS="TableRowColor">
274 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
275 <CODE> void</CODE></FONT></TD>
276 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#setSpeed(int)">setSpeed</A></B>(int speed)</CODE>
279 sets the motor speed of the robot, in degrees/second.</TD>
281 <TR BGCOLOR="white" CLASS="TableRowColor">
282 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
283 <CODE> void</CODE></FONT></TD>
284 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#stop()">stop</A></B>()</CODE>
287 Halts the NXT robot and calculates new x, y coordinates.</TD>
289 <TR BGCOLOR="white" CLASS="TableRowColor">
290 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
291 <CODE> void</CODE></FONT></TD>
292 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#travel(float)">travel</A></B>(float distance)</CODE>
295 Moves the NXT robot a specific distance.</TD>
297 <TR BGCOLOR="white" CLASS="TableRowColor">
298 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
299 <CODE> void</CODE></FONT></TD>
300 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#travel(float, boolean)">travel</A></B>(float distance,
301 boolean immediateReturn)</CODE>
304 Moves the NXT robot a specific distance.</TD>
306 <TR BGCOLOR="white" CLASS="TableRowColor">
307 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
308 <CODE> void</CODE></FONT></TD>
309 <TD><CODE><B><A HREF="../../lejos/navigation/Navigator.html#updatePosition()">updatePosition</A></B>()</CODE>
312 Updates robot location (x,y) and direction angle.</TD>
318 <!-- ============ METHOD DETAIL ========== -->
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328 <A NAME="getX()"><!-- --></A><H3>
331 float <B>getX</B>()</PRE>
333 <DD>Returns the current x coordinate of the NXT.
334 Note: At present it will only give an updated reading when the NXT is stopped.
338 <DT><B>Returns:</B><DD>float Present x coordinate.</DL>
343 <A NAME="getY()"><!-- --></A><H3>
346 float <B>getY</B>()</PRE>
348 <DD>Returns the current y coordinate of the NXT.
349 Note: At present it will only give an updated reading when the NXT is stopped.
353 <DT><B>Returns:</B><DD>float Present y coordinate.</DL>
358 <A NAME="getAngle()"><!-- --></A><H3>
361 float <B>getAngle</B>()</PRE>
363 <DD>Returns the current angle the NXT robot is facing.
364 Note: At present it will only give an updated reading when the NXT is stopped.
368 <DT><B>Returns:</B><DD>float directionAngle in degrees.</DL>
373 <A NAME="isMoving()"><!-- --></A><H3>
376 boolean <B>isMoving</B>()</PRE>
378 <DD>returns true iff the robot is moving under power
386 <A NAME="setSpeed(int)"><!-- --></A><H3>
389 void <B>setSpeed</B>(int speed)</PRE>
391 <DD>sets the motor speed of the robot, in degrees/second.
399 <A NAME="forward()"><!-- --></A><H3>
402 void <B>forward</B>()</PRE>
404 <DD>Moves the NXT robot forward until stop() is called.
407 <DT><B>See Also:</B><DD><A HREF="../../lejos/navigation/Navigator.html#stop()"><CODE>stop().</CODE></A></DL>
412 <A NAME="backward()"><!-- --></A><H3>
415 void <B>backward</B>()</PRE>
417 <DD>Moves the NXT robot backward until stop() is called.
420 <DT><B>See Also:</B><DD><A HREF="../../lejos/navigation/Navigator.html#stop()"><CODE>stop().</CODE></A></DL>
425 <A NAME="stop()"><!-- --></A><H3>
428 void <B>stop</B>()</PRE>
430 <DD>Halts the NXT robot and calculates new x, y coordinates.
433 <DT><B>See Also:</B><DD><A HREF="../../lejos/navigation/Navigator.html#forward()"><CODE>forward().</CODE></A></DL>
438 <A NAME="setPosition(float, float, float)"><!-- --></A><H3>
441 void <B>setPosition</B>(float x,
443 float directionAngle)</PRE>
445 <DD>sets robot location (x,y) and direction angle
448 <DT><B>Parameters:</B><DD><CODE>x</CODE> - the x coordinate of the robot<DD><CODE>y</CODE> - the y coordinate of the robot<DD><CODE>directionAngle</CODE> - the angle the robot is heading, measured from the x axis</DL>
453 <A NAME="rotateLeft()"><!-- --></A><H3>
456 void <B>rotateLeft</B>()</PRE>
458 <DD>Rotates the NXT to the left (increasing angle) until stop() is called;
466 <A NAME="rotateRight()"><!-- --></A><H3>
469 void <B>rotateRight</B>()</PRE>
471 <DD>Rotates the NXT to the right (decreasing angle) until stop() is called;
479 <A NAME="rotate(float)"><!-- --></A><H3>
482 void <B>rotate</B>(float angle)</PRE>
484 <DD>Rotates the NXT robot a specific number of degrees in a direction (+ or -).This
485 method will return once the rotation is complete.
488 <DT><B>Parameters:</B><DD><CODE>angle</CODE> - Angle to rotate in degrees. A positive value rotates left, a negative value right.</DL>
493 <A NAME="rotate(float, boolean)"><!-- --></A><H3>
496 void <B>rotate</B>(float angle,
497 boolean immediateReturn)</PRE>
499 <DD>Rotates the NXT robot a specific number of degrees in a direction (+ or -).
500 If immediateReturn is true, method returns immediately and your code MUST call updatePostion()
501 when the robot has stopped. Otherwise, the robot position is lost.
504 <DT><B>Parameters:</B><DD><CODE>angle</CODE> - Angle to rotate in degrees. A positive value rotates left, a negative value right.<DD><CODE>immediateReturn</CODE> - iff true, the method returns immediately, in which case the programmer <br>
505 is responsible for calling updatePosition() before the robot moves again.</DL>
510 <A NAME="rotateTo(float)"><!-- --></A><H3>
513 void <B>rotateTo</B>(float angle)</PRE>
515 <DD>Rotates the NXT robot to point in a specific direction. It will take the shortest
516 path necessary to point to the desired angle.
519 <DT><B>Parameters:</B><DD><CODE>angle</CODE> - The angle to rotate to, in degrees.</DL>
524 <A NAME="rotateTo(float, boolean)"><!-- --></A><H3>
527 void <B>rotateTo</B>(float angle,
528 boolean immediateReturn)</PRE>
530 <DD>Rotates the NXT robot to point in a specific direction. It will take the shortest
531 path necessary to point to the desired angle.
532 If immediateReturnis true, method returns immidiately and your code MUST call updatePostion()
533 when the robot has stopped. Otherwise, the robot position is lost.
536 <DT><B>Parameters:</B><DD><CODE>angle</CODE> - The angle to rotate to, in degrees.<DD><CODE>immediateReturn</CODE> - iff true, method returns immediately and the programmer is responsible for calling
537 updatePosition() before the robot moves again.</DL>
542 <A NAME="travel(float)"><!-- --></A><H3>
545 void <B>travel</B>(float distance)</PRE>
547 <DD>Moves the NXT robot a specific distance. A positive value moves it forward and
548 a negative value moves it backward. Method returns when movement is done.
551 <DT><B>Parameters:</B><DD><CODE>distance</CODE> - The positive or negative distance to move the robot.</DL>
556 <A NAME="travel(float, boolean)"><!-- --></A><H3>
559 void <B>travel</B>(float distance,
560 boolean immediateReturn)</PRE>
562 <DD>Moves the NXT robot a specific distance. A positive value moves it forwards and
563 a negative value moves it backwards.
564 If immediateReturnis true, method returns immidiately and your code MUST call updatePostion()
565 when the robot has stopped. Otherwise, the robot position is lost.
568 <DT><B>Parameters:</B><DD><CODE>distance</CODE> - The positive or negative distance to move the robot, same units as _wheelDiameter<DD><CODE>immediateReturn</CODE> - iff true, the method returns immediately, in which case the programmer <br>
569 is responsible for calling updatePosition() before the robot moves again.</DL>
574 <A NAME="goTo(float, float)"><!-- --></A><H3>
577 void <B>goTo</B>(float x,
580 <DD>Rotates the NXT robot towards the target point and moves the required distance.
583 <DT><B>Parameters:</B><DD><CODE>x</CODE> - The x coordinate to move to.<DD><CODE>y</CODE> - The y coordinate to move to.</DL>
588 <A NAME="goTo(float, float, boolean)"><!-- --></A><H3>
591 void <B>goTo</B>(float x,
593 boolean immediateReturn)</PRE>
595 <DD>Rotates the NXT robot towards the target point and moves the required distance.
598 <DT><B>Parameters:</B><DD><CODE>x</CODE> - The x coordinate to move to.<DD><CODE>y</CODE> - The y coordinate to move to.<DD><CODE>immediateReturn</CODE> - Indicates whether method should return immediately.</DL>
603 <A NAME="distanceTo(float, float)"><!-- --></A><H3>
606 float <B>distanceTo</B>(float x,
609 <DD>returns the distance from robot to the point with coordinates (x,y) .
612 <DT><B>Parameters:</B><DD><CODE>x</CODE> - coordinate of the point<DD><CODE>y</CODE> - coordinate of the point
613 <DT><B>Returns:</B><DD>the distance from the robot current location to the point</DL>
618 <A NAME="angleTo(float, float)"><!-- --></A><H3>
621 float <B>angleTo</B>(float x,
624 <DD>returns the direction angle (degrees) to the point with coordinates (x,y)
627 <DT><B>Parameters:</B><DD><CODE>x</CODE> - coordinate of the point<DD><CODE>y</CODE> - coordinate of the point
628 <DT><B>Returns:</B><DD>the direction angle to the point (x,y) from the NXT. Rotate to this angle to head toward it.</DL>
633 <A NAME="updatePosition()"><!-- --></A><H3>
636 void <B>updatePosition</B>()</PRE>
638 <DD>Updates robot location (x,y) and direction angle. Called by stop, and movement commands that terminate when complete.
639 Must be called after a command that returns immediatly, but after robot movement stops, and before another movement method is called.
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