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7 TachoNavigator (leJOS NXT API documentation)
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75 SUMMARY: NESTED | <A HREF="#field_summary">FIELD</A> | <A HREF="#constructor_summary">CONSTR</A> | <A HREF="#method_summary">METHOD</A></FONT></TD>
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87 lejos.navigation</FONT>
89 Class TachoNavigator</H2>
91 <A HREF="../../java/lang/Object.html" title="class in java.lang">java.lang.Object</A>
92 <IMG SRC="../../resources/inherit.gif" ALT="extended by "><B>lejos.navigation.TachoNavigator</B>
95 <DT><B>All Implemented Interfaces:</B> <DD><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></DD>
98 <DT><B>Direct Known Subclasses:</B> <DD><A HREF="../../lejos/navigation/CompassNavigator.html" title="class in lejos.navigation">CompassNavigator</A></DD>
102 <DT><PRE>public class <B>TachoNavigator</B><DT>extends <A HREF="../../java/lang/Object.html" title="class in java.lang">Object</A><DT>implements <A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></DL>
106 The TachoNavigator class can keep track of the robot position and the direction angle it faces; It uses a _pilot object to control NXT robot movements.<br>
107 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.
108 However, some commands optionally return immediately, to permit sensor monitoring in the main thread. It is then the programmers responsibility to
109 call updatePosition() when the robot motion is completed. All angles are in degrees, distances in the units used to specify robot dimensions.
110 As with pilot, the robot must be have two independently controlled drive wheels.
111 The assumed initial position of the robot is at (0,0) and initial angle 0 i.e. pointing in the +X direction.
118 <!-- =========== FIELD SUMMARY =========== -->
120 <A NAME="field_summary"><!-- --></A>
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124 <B>Field Summary</B></FONT></TH>
126 <TR BGCOLOR="white" CLASS="TableRowColor">
127 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
128 <CODE>protected float</CODE></FONT></TD>
129 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#_heading">_heading</A></B></CODE>
132 </TD>
134 <TR BGCOLOR="white" CLASS="TableRowColor">
135 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
136 <CODE>protected int</CODE></FONT></TD>
137 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#_left0">_left0</A></B></CODE>
140 </TD>
142 <TR BGCOLOR="white" CLASS="TableRowColor">
143 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
144 <CODE>protected <A HREF="../../lejos/navigation/Pilot.html" title="class in lejos.navigation">Pilot</A></CODE></FONT></TD>
145 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#_pilot">_pilot</A></B></CODE>
148 </TD>
150 <TR BGCOLOR="white" CLASS="TableRowColor">
151 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
152 <CODE>protected int</CODE></FONT></TD>
153 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#_right0">_right0</A></B></CODE>
156 </TD>
160 <!-- ======== CONSTRUCTOR SUMMARY ======== -->
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166 <B>Constructor Summary</B></FONT></TH>
168 <TR BGCOLOR="white" CLASS="TableRowColor">
169 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#TachoNavigator(float, float)">TachoNavigator</A></B>(float wheelDiameter,
170 float driveLength)</CODE>
173 Overloaded TachoNavigator constructor that assumes the following:<BR>
174 Left motor = Motor.A Right motor = Motor.C <BR></TD>
176 <TR BGCOLOR="white" CLASS="TableRowColor">
177 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#TachoNavigator(float, float, lejos.nxt.Motor, lejos.nxt.Motor)">TachoNavigator</A></B>(float wheelDiameter,
178 float trackWidth,
179 <A HREF="../../lejos/nxt/Motor.html" title="class in lejos.nxt">Motor</A> leftMotor,
180 <A HREF="../../lejos/nxt/Motor.html" title="class in lejos.nxt">Motor</A> rightMotor)</CODE>
183 </TD>
185 <TR BGCOLOR="white" CLASS="TableRowColor">
186 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#TachoNavigator(float, float, lejos.nxt.Motor, lejos.nxt.Motor, boolean)">TachoNavigator</A></B>(float wheelDiameter,
187 float trackWidth,
188 <A HREF="../../lejos/nxt/Motor.html" title="class in lejos.nxt">Motor</A> leftMotor,
189 <A HREF="../../lejos/nxt/Motor.html" title="class in lejos.nxt">Motor</A> rightMotor,
190 boolean reverse)</CODE>
193 Allocates a Navigator object and initializes it with the proper motors.</TD>
195 <TR BGCOLOR="white" CLASS="TableRowColor">
196 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#TachoNavigator(lejos.navigation.Pilot)">TachoNavigator</A></B>(<A HREF="../../lejos/navigation/Pilot.html" title="class in lejos.navigation">Pilot</A> pilot)</CODE>
199 </TD>
203 <!-- ========== METHOD SUMMARY =========== -->
205 <A NAME="method_summary"><!-- --></A>
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208 <TH ALIGN="left" COLSPAN="2"><FONT SIZE="+2">
209 <B>Method Summary</B></FONT></TH>
211 <TR BGCOLOR="white" CLASS="TableRowColor">
212 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
213 <CODE> float</CODE></FONT></TD>
214 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#angleTo(float, float)">angleTo</A></B>(float x,
218 returns the direction angle (degrees) to point with coordinates (x,y)</TD>
220 <TR BGCOLOR="white" CLASS="TableRowColor">
221 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
222 <CODE> void</CODE></FONT></TD>
223 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#backward()">backward</A></B>()</CODE>
226 Moves the NXT robot backward until stop() is called.</TD>
228 <TR BGCOLOR="white" CLASS="TableRowColor">
229 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
230 <CODE> float</CODE></FONT></TD>
231 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#distanceTo(float, float)">distanceTo</A></B>(float x,
235 distance from robot to the point with coordinates (x,y) .</TD>
237 <TR BGCOLOR="white" CLASS="TableRowColor">
238 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
239 <CODE> void</CODE></FONT></TD>
240 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#forward()">forward</A></B>()</CODE>
243 Moves the NXT robot forward until stop() is called.</TD>
245 <TR BGCOLOR="white" CLASS="TableRowColor">
246 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
247 <CODE> float</CODE></FONT></TD>
248 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#getAngle()">getAngle</A></B>()</CODE>
251 Returns the current angle the NXT robot is facing, relative to the +X axis direction; the +Y direction is 90 degrees.</TD>
253 <TR BGCOLOR="white" CLASS="TableRowColor">
254 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
255 <CODE> <A HREF="../../lejos/navigation/Pilot.html" title="class in lejos.navigation">Pilot</A></CODE></FONT></TD>
256 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#getPilot()">getPilot</A></B>()</CODE>
259 </TD>
261 <TR BGCOLOR="white" CLASS="TableRowColor">
262 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
263 <CODE> float</CODE></FONT></TD>
264 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#getX()">getX</A></B>()</CODE>
267 Returns the current x coordinate of the NXT.</TD>
269 <TR BGCOLOR="white" CLASS="TableRowColor">
270 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
271 <CODE> float</CODE></FONT></TD>
272 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#getY()">getY</A></B>()</CODE>
275 Returns the current y coordinate of the NXT.</TD>
277 <TR BGCOLOR="white" CLASS="TableRowColor">
278 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
279 <CODE> void</CODE></FONT></TD>
280 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#goTo(float, float)">goTo</A></B>(float x,
284 Rotates the NXT robot towards the target point (x,y) and moves the required distance.</TD>
286 <TR BGCOLOR="white" CLASS="TableRowColor">
287 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
288 <CODE> void</CODE></FONT></TD>
289 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#goTo(float, float, boolean)">goTo</A></B>(float x,
291 boolean immediateReturn)</CODE>
294 Rotates the NXT robot towards the target point (x,y) and moves the required distance.</TD>
296 <TR BGCOLOR="white" CLASS="TableRowColor">
297 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
298 <CODE> boolean</CODE></FONT></TD>
299 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#isMoving()">isMoving</A></B>()</CODE>
302 returns true iff the robot is moving under power</TD>
304 <TR BGCOLOR="white" CLASS="TableRowColor">
305 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
306 <CODE> void</CODE></FONT></TD>
307 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#rotate(float)">rotate</A></B>(float angle)</CODE>
310 Rotates the NXT robot a specific number of degrees in a direction (+ or -).</TD>
312 <TR BGCOLOR="white" CLASS="TableRowColor">
313 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
314 <CODE> void</CODE></FONT></TD>
315 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#rotate(float, boolean)">rotate</A></B>(float angle,
316 boolean immediateReturn)</CODE>
319 Rotates the NXT robot a specific number of degrees in a direction (+ or -).</TD>
321 <TR BGCOLOR="white" CLASS="TableRowColor">
322 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
323 <CODE> void</CODE></FONT></TD>
324 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#rotateLeft()">rotateLeft</A></B>()</CODE>
327 Rotates the NXT to the left (increasing angle) until stop() is called;</TD>
329 <TR BGCOLOR="white" CLASS="TableRowColor">
330 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
331 <CODE> void</CODE></FONT></TD>
332 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#rotateRight()">rotateRight</A></B>()</CODE>
335 Rotates the NXT to the right (decreasing angle) until stop() is called;</TD>
337 <TR BGCOLOR="white" CLASS="TableRowColor">
338 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
339 <CODE> void</CODE></FONT></TD>
340 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#rotateTo(float)">rotateTo</A></B>(float angle)</CODE>
343 Rotates the NXT robot to point in a specific direction.</TD>
345 <TR BGCOLOR="white" CLASS="TableRowColor">
346 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
347 <CODE> void</CODE></FONT></TD>
348 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#rotateTo(float, boolean)">rotateTo</A></B>(float angle,
349 boolean immediateReturn)</CODE>
352 Rotates the NXT robot to point in a specific direction.</TD>
354 <TR BGCOLOR="white" CLASS="TableRowColor">
355 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
356 <CODE> void</CODE></FONT></TD>
357 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#setPosition(float, float, float)">setPosition</A></B>(float x,
359 float directionAngle)</CODE>
362 sets robot location (x,y) and direction angle</TD>
364 <TR BGCOLOR="white" CLASS="TableRowColor">
365 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
366 <CODE> void</CODE></FONT></TD>
367 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#setSpeed(int)">setSpeed</A></B>(int speed)</CODE>
370 sets the motor speed of the robot, in degrees/second.</TD>
372 <TR BGCOLOR="white" CLASS="TableRowColor">
373 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
374 <CODE> void</CODE></FONT></TD>
375 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#stop()">stop</A></B>()</CODE>
378 Halts the NXT robot and calculates new x, y coordinates.</TD>
380 <TR BGCOLOR="white" CLASS="TableRowColor">
381 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
382 <CODE> void</CODE></FONT></TD>
383 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#travel(float)">travel</A></B>(float distance)</CODE>
386 Moves the NXT robot a specific distance.</TD>
388 <TR BGCOLOR="white" CLASS="TableRowColor">
389 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
390 <CODE> void</CODE></FONT></TD>
391 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#travel(float, boolean)">travel</A></B>(float distance,
392 boolean immediateReturn)</CODE>
395 Moves the NXT robot a specific distance.</TD>
397 <TR BGCOLOR="white" CLASS="TableRowColor">
398 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
399 <CODE> void</CODE></FONT></TD>
400 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#turn(float)">turn</A></B>(float radius)</CODE>
403 Moves the NXT robot in a circular path with a specified radius.</TD>
405 <TR BGCOLOR="white" CLASS="TableRowColor">
406 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
407 <CODE> void</CODE></FONT></TD>
408 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#turn(float, int)">turn</A></B>(float radius,
409 int angle)</CODE>
412 Moves the NXT robot in a circular path through a specific angle; If waitForCompletion is true, returns when angle is reached.</TD>
414 <TR BGCOLOR="white" CLASS="TableRowColor">
415 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
416 <CODE> void</CODE></FONT></TD>
417 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#turn(float, int, boolean)">turn</A></B>(float radius,
419 boolean immediateReturn)</CODE>
422 Moves the NXT robot in a circular path through a specific angle; If waitForCompletion is true, returns when angle is reached.</TD>
424 <TR BGCOLOR="white" CLASS="TableRowColor">
425 <TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
426 <CODE> void</CODE></FONT></TD>
427 <TD><CODE><B><A HREF="../../lejos/navigation/TachoNavigator.html#updatePosition()">updatePosition</A></B>()</CODE>
430 Updates robot location (x,y) and direction angle.</TD>
433 <A NAME="methods_inherited_from_class_java.lang.Object"><!-- --></A>
434 <TABLE BORDER="1" WIDTH="100%" CELLPADDING="3" CELLSPACING="0" SUMMARY="">
435 <TR BGCOLOR="#EEEEFF" CLASS="TableSubHeadingColor">
436 <TH ALIGN="left"><B>Methods inherited from class java.lang.<A HREF="../../java/lang/Object.html" title="class in java.lang">Object</A></B></TH>
438 <TR BGCOLOR="white" CLASS="TableRowColor">
439 <TD><CODE><A HREF="../../java/lang/Object.html#equals(java.lang.Object)">equals</A>, <A HREF="../../java/lang/Object.html#getClass()">getClass</A>, <A HREF="../../java/lang/Object.html#hashCode()">hashCode</A>, <A HREF="../../java/lang/Object.html#notify()">notify</A>, <A HREF="../../java/lang/Object.html#notifyAll()">notifyAll</A>, <A HREF="../../java/lang/Object.html#toString()">toString</A>, <A HREF="../../java/lang/Object.html#wait()">wait</A>, <A HREF="../../java/lang/Object.html#wait(long)">wait</A></CODE></TD>
445 <!-- ============ FIELD DETAIL =========== -->
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448 <TABLE BORDER="1" WIDTH="100%" CELLPADDING="3" CELLSPACING="0" SUMMARY="">
449 <TR BGCOLOR="#CCCCFF" CLASS="TableHeadingColor">
450 <TH ALIGN="left" COLSPAN="1"><FONT SIZE="+2">
451 <B>Field Detail</B></FONT></TH>
455 <A NAME="_heading"><!-- --></A><H3>
458 protected float <B>_heading</B></PRE>
465 <A NAME="_left0"><!-- --></A><H3>
468 protected int <B>_left0</B></PRE>
475 <A NAME="_right0"><!-- --></A><H3>
478 protected int <B>_right0</B></PRE>
485 <A NAME="_pilot"><!-- --></A><H3>
488 protected <A HREF="../../lejos/navigation/Pilot.html" title="class in lejos.navigation">Pilot</A> <B>_pilot</B></PRE>
494 <!-- ========= CONSTRUCTOR DETAIL ======== -->
496 <A NAME="constructor_detail"><!-- --></A>
497 <TABLE BORDER="1" WIDTH="100%" CELLPADDING="3" CELLSPACING="0" SUMMARY="">
498 <TR BGCOLOR="#CCCCFF" CLASS="TableHeadingColor">
499 <TH ALIGN="left" COLSPAN="1"><FONT SIZE="+2">
500 <B>Constructor Detail</B></FONT></TH>
504 <A NAME="TachoNavigator(float, float, lejos.nxt.Motor, lejos.nxt.Motor, boolean)"><!-- --></A><H3>
507 public <B>TachoNavigator</B>(float wheelDiameter,
508 float trackWidth,
509 <A HREF="../../lejos/nxt/Motor.html" title="class in lejos.nxt">Motor</A> leftMotor,
510 <A HREF="../../lejos/nxt/Motor.html" title="class in lejos.nxt">Motor</A> rightMotor,
511 boolean reverse)</PRE>
513 <DD>Allocates a Navigator object and initializes it with the proper motors.
514 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
518 <DT><B>Parameters:</B><DD><CODE>wheelDiameter</CODE> - The diameter of the wheel, usually printed right on the
519 wheel, in centimeters (e.g. 49.6 mm = 4.96 cm = 1.95 in)<DD><CODE>trackWidth</CODE> - The distance from the center of the left tire to the center
520 of the right tire, in units of your choice<DD><CODE>rightMotor</CODE> - The motor used to drive the right wheel e.g. Motor.C.<DD><CODE>leftMotor</CODE> - The motor used to drive the left wheel e.g. Motor.A.<DD><CODE>reverse</CODE> - If motor.forward() dives the robot backwars, set this parameter true.</DL>
524 <A NAME="TachoNavigator(float, float, lejos.nxt.Motor, lejos.nxt.Motor)"><!-- --></A><H3>
527 public <B>TachoNavigator</B>(float wheelDiameter,
528 float trackWidth,
529 <A HREF="../../lejos/nxt/Motor.html" title="class in lejos.nxt">Motor</A> leftMotor,
530 <A HREF="../../lejos/nxt/Motor.html" title="class in lejos.nxt">Motor</A> rightMotor)</PRE>
535 <A NAME="TachoNavigator(lejos.navigation.Pilot)"><!-- --></A><H3>
538 public <B>TachoNavigator</B>(<A HREF="../../lejos/navigation/Pilot.html" title="class in lejos.navigation">Pilot</A> pilot)</PRE>
543 <A NAME="TachoNavigator(float, float)"><!-- --></A><H3>
546 public <B>TachoNavigator</B>(float wheelDiameter,
547 float driveLength)</PRE>
549 <DD>Overloaded TachoNavigator constructor that assumes the following:<BR>
550 Left motor = Motor.A Right motor = Motor.C <BR>
553 <DT><B>Parameters:</B><DD><CODE>wheelDiameter</CODE> - The diameter of the wheel, usually printed right on the
554 wheel, in centimeters (e.g. 49.6 mm = 4.96 cm)<DD><CODE>driveLength</CODE> - The distance from the center of the left tire to the center
555 of the right tire,</DL>
558 <!-- ============ METHOD DETAIL ========== -->
560 <A NAME="method_detail"><!-- --></A>
561 <TABLE BORDER="1" WIDTH="100%" CELLPADDING="3" CELLSPACING="0" SUMMARY="">
562 <TR BGCOLOR="#CCCCFF" CLASS="TableHeadingColor">
563 <TH ALIGN="left" COLSPAN="1"><FONT SIZE="+2">
564 <B>Method Detail</B></FONT></TH>
568 <A NAME="getPilot()"><!-- --></A><H3>
571 public <A HREF="../../lejos/navigation/Pilot.html" title="class in lejos.navigation">Pilot</A> <B>getPilot</B>()</PRE>
582 <A NAME="getX()"><!-- --></A><H3>
585 public float <B>getX</B>()</PRE>
587 <DD>Returns the current x coordinate of the NXT.
590 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#getX()">getX</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
594 <DT><B>Returns:</B><DD>float Present x coordinate.</DL>
599 <A NAME="getY()"><!-- --></A><H3>
602 public float <B>getY</B>()</PRE>
604 <DD>Returns the current y coordinate of the NXT.
605 Note: At present it will only give an updated reading when the NXT is stopped.
608 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#getY()">getY</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
612 <DT><B>Returns:</B><DD>float Present y coordinate.</DL>
617 <A NAME="getAngle()"><!-- --></A><H3>
620 public float <B>getAngle</B>()</PRE>
622 <DD>Returns the current angle the NXT robot is facing, relative to the +X axis direction; the +Y direction is 90 degrees.
623 Note: At present it will only give an updated reading when the NXT is stopped.
626 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#getAngle()">getAngle</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
630 <DT><B>Returns:</B><DD>float Angle in degrees.</DL>
635 <A NAME="setPosition(float, float, float)"><!-- --></A><H3>
638 public void <B>setPosition</B>(float x,
640 float directionAngle)</PRE>
642 <DD>sets robot location (x,y) and direction angle
645 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#setPosition(float, float, float)">setPosition</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
648 <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. 90 degrees is the +Y direction</DL>
653 <A NAME="setSpeed(int)"><!-- --></A><H3>
656 public void <B>setSpeed</B>(int speed)</PRE>
658 <DD>sets the motor speed of the robot, in degrees/second.
661 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#setSpeed(int)">setSpeed</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
669 <A NAME="forward()"><!-- --></A><H3>
672 public void <B>forward</B>()</PRE>
674 <DD>Moves the NXT robot forward until stop() is called.
677 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#forward()">forward</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
680 <DT><B>See Also:</B><DD><A HREF="../../lejos/navigation/Navigator.html#stop()"><CODE>Navigator.stop().</CODE></A></DL>
685 <A NAME="backward()"><!-- --></A><H3>
688 public void <B>backward</B>()</PRE>
690 <DD>Moves the NXT robot backward until stop() is called.
693 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#backward()">backward</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
696 <DT><B>See Also:</B><DD><A HREF="../../lejos/navigation/Navigator.html#stop()"><CODE>Navigator.stop().</CODE></A></DL>
701 <A NAME="stop()"><!-- --></A><H3>
704 public void <B>stop</B>()</PRE>
706 <DD>Halts the NXT robot and calculates new x, y coordinates.
709 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#stop()">stop</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
712 <DT><B>See Also:</B><DD><A HREF="../../lejos/navigation/Navigator.html#forward()"><CODE>Navigator.forward().</CODE></A></DL>
717 <A NAME="isMoving()"><!-- --></A><H3>
720 public boolean <B>isMoving</B>()</PRE>
722 <DD>returns true iff the robot is moving under power
725 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#isMoving()">isMoving</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
733 <A NAME="travel(float)"><!-- --></A><H3>
736 public void <B>travel</B>(float distance)</PRE>
738 <DD>Moves the NXT robot a specific distance. A positive value moves it forwards and
739 a negative value moves it backwards.
740 The robot position is updated atomatically when the method returns.
743 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#travel(float)">travel</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
746 <DT><B>Parameters:</B><DD><CODE>distance</CODE> - The positive or negative distance to move the robot, same units as _wheelDiameter</DL>
751 <A NAME="travel(float, boolean)"><!-- --></A><H3>
754 public void <B>travel</B>(float distance,
755 boolean immediateReturn)</PRE>
757 <DD>Moves the NXT robot a specific distance. A positive value moves it forwards and
758 a negative value moves it backwards.
759 If immediateReturnis true, method returns immidiately and your code MUST call updatePostion()
760 when the robot has stopped. Otherwise, the robot position is lost.
763 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#travel(float, boolean)">travel</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
766 <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>
767 is responsible for calling updatePosition() before the robot moves again.</DL>
772 <A NAME="rotateLeft()"><!-- --></A><H3>
775 public void <B>rotateLeft</B>()</PRE>
777 <DD>Rotates the NXT to the left (increasing angle) until stop() is called;
780 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#rotateLeft()">rotateLeft</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
788 <A NAME="rotateRight()"><!-- --></A><H3>
791 public void <B>rotateRight</B>()</PRE>
793 <DD>Rotates the NXT to the right (decreasing angle) until stop() is called;
796 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#rotateRight()">rotateRight</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
804 <A NAME="rotate(float)"><!-- --></A><H3>
807 public void <B>rotate</B>(float angle)</PRE>
809 <DD>Rotates the NXT robot a specific number of degrees in a direction (+ or -).
812 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#rotate(float)">rotate</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
815 <DT><B>Parameters:</B><DD><CODE>angle</CODE> - Angle to rotate in degrees. A positive value rotates left, a negative value right.</DL>
820 <A NAME="rotate(float, boolean)"><!-- --></A><H3>
823 public void <B>rotate</B>(float angle,
824 boolean immediateReturn)</PRE>
826 <DD>Rotates the NXT robot a specific number of degrees in a direction (+ or -).
827 If immediateReturn is true, method returns immidiately and your code MUST call updatePostion()
828 when the robot has stopped. Otherwise, the robot position is lost.
831 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#rotate(float, boolean)">rotate</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
834 <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>
835 is responsible for calling updatePosition() before the robot moves again.</DL>
840 <A NAME="rotateTo(float)"><!-- --></A><H3>
843 public void <B>rotateTo</B>(float angle)</PRE>
845 <DD>Rotates the NXT robot to point in a specific direction. It will take the shortest
846 path necessary to point to the desired angle.
849 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#rotateTo(float)">rotateTo</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
852 <DT><B>Parameters:</B><DD><CODE>angle</CODE> - The angle to rotate to, in degrees.</DL>
857 <A NAME="rotateTo(float, boolean)"><!-- --></A><H3>
860 public void <B>rotateTo</B>(float angle,
861 boolean immediateReturn)</PRE>
863 <DD>Rotates the NXT robot to point in a specific direction. It will take the shortest
864 path necessary to point to the desired angle.
865 If immediateReturnis true, method returns immidiately and your code MUST call updatePostion()
866 when the robot has stopped. Otherwise, the robot position is lost.
869 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#rotateTo(float, boolean)">rotateTo</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
872 <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
873 updatePosition() before the robot moves again.</DL>
878 <A NAME="goTo(float, float)"><!-- --></A><H3>
881 public void <B>goTo</B>(float x,
884 <DD>Rotates the NXT robot towards the target point (x,y) and moves the required distance.
885 Method returns when target point is reached, and the robot position is updated;
888 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#goTo(float, float)">goTo</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
891 <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>
896 <A NAME="goTo(float, float, boolean)"><!-- --></A><H3>
899 public void <B>goTo</B>(float x,
901 boolean immediateReturn)</PRE>
903 <DD>Rotates the NXT robot towards the target point (x,y) and moves the required distance.
904 Method returns when target point is reached, and the robot position is updated;
907 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#goTo(float, float, boolean)">goTo</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
910 <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> - iff true, method returns immediately</DL>
915 <A NAME="distanceTo(float, float)"><!-- --></A><H3>
918 public float <B>distanceTo</B>(float x,
921 <DD>distance from robot to the point with coordinates (x,y) .
924 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#distanceTo(float, float)">distanceTo</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
927 <DT><B>Parameters:</B><DD><CODE>x</CODE> - coordinate of the point<DD><CODE>y</CODE> - coordinate of the point
928 <DT><B>Returns:</B><DD>the distance from the robot current location to the point</DL>
933 <A NAME="angleTo(float, float)"><!-- --></A><H3>
936 public float <B>angleTo</B>(float x,
939 <DD>returns the direction angle (degrees) to point with coordinates (x,y)
942 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#angleTo(float, float)">angleTo</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
945 <DT><B>Parameters:</B><DD><CODE>x</CODE> - coordinate of the point<DD><CODE>y</CODE> - coordinate of the point
946 <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>
951 <A NAME="updatePosition()"><!-- --></A><H3>
954 public void <B>updatePosition</B>()</PRE>
956 <DD>Updates robot location (x,y) and direction angle. Called by stop, and movement commands that terminate when complete.
957 If you use a movement command that returns immediately, you MUST call this method when the movement is complete.
958 It may also be called while movement is on progress.
961 <DT><B>Specified by:</B><DD><CODE><A HREF="../../lejos/navigation/Navigator.html#updatePosition()">updatePosition</A></CODE> in interface <CODE><A HREF="../../lejos/navigation/Navigator.html" title="interface in lejos.navigation">Navigator</A></CODE></DL>
969 <A NAME="turn(float)"><!-- --></A><H3>
972 public void <B>turn</B>(float radius)</PRE>
974 <DD>Moves the NXT robot in a circular path with a specified radius. <br>
975 The center of the turning circle is on the right side of the robot iff parameter radius is negative; <br>
976 Postcondition: motor speed is NOT restored to previous value;
982 <DT><B>Parameters:</B><DD><CODE>radius</CODE> - is the radius of the circular path. If positive, the left wheel is on the inside of the turn. If negative, the left wheel is on the outside.</DL>
987 <A NAME="turn(float, int)"><!-- --></A><H3>
990 public void <B>turn</B>(float radius,
991 int angle)</PRE>
993 <DD>Moves the NXT robot in a circular path through a specific angle; If waitForCompletion is true, returns when angle is reached. <br>
994 The center of the turning circle is on the right side of the robot iff parameter radius is negative.
995 Robot will stop when total rotation equals angle. If angle is negative, robot will move travel backwards.
1001 <DT><B>Parameters:</B><DD><CODE>radius</CODE> - radius of the turning circle<DD><CODE>angle</CODE> - the angle by which the robot heading changes, + or -</DL>
1006 <A NAME="turn(float, int, boolean)"><!-- --></A><H3>
1009 public void <B>turn</B>(float radius,
1011 boolean immediateReturn)</PRE>
1013 <DD>Moves the NXT robot in a circular path through a specific angle; If waitForCompletion is true, returns when angle is reached. <br>
1014 The center of the turning circle is on the right side of the robot iff parameter radius is negative.
1015 Robot will stop when total rotation equals angle. If angle is negative, robot will travel backwards.
1021 <DT><B>Parameters:</B><DD><CODE>radius</CODE> - see turn(turnRage, angle)<DD><CODE>immediateReturn</CODE> - iff true, the method returns immediately, in which case the programmer <br>
1022 is responsible for calling updatePosition() before the robot moves again.</DL>
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