execution.ugv.hardware

Class AriaInterface

java.lang.Object

execution.ugv.hardware.AriaInterface

public class AriaInterface
extends Object

Class to facilitate interface with the Pioneer3 control hardware utilizing the Aria API

Constructor Summary

Constructors

Constructor and Description
AriaInterface(UgvExecution execution) Creates a new instance of ControlHardware

Method Summary

Modifier and Type	Method and Description
double	getHeadingCmd() Returns the commanded heading
double	getSpeedCmd() Returns the commanded speed
void	resetPosition() Resets the Aria objects to reflect an updated vehicle position (usually after a "SetPosition" command)
void	setHeadingCmd(double newHdg) Sets a new commanded heading
void	setSpeedCmd(double newSpd) Sets a new commanded speed
void	setSpeedCmd(double newLeftSpd, double newRightSpd) Sets a new commanded speed for individual wheels NOTE: DISABLES HEADING AND SPEED CONTROL
void	shutdownAria() Closes out all of the Aria processes and shuts down the Aria subsystems
void	updateState(UgvState state) Reads the current state variables from the robot and updates the state vector

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

AriaInterface

public AriaInterface(UgvExecution execution)

Creates a new instance of ControlHardware

Parameters:

execution - instance of TrackedUgvExecution

Method Detail

shutdownAria

public void shutdownAria()

Closes out all of the Aria processes and shuts down the Aria subsystems

setSpeedCmd

public void setSpeedCmd(double newSpd)

Sets a new commanded speed

Parameters:

newSpd - new commanded speed in meters per second

setSpeedCmd

public void setSpeedCmd(double newLeftSpd,
                        double newRightSpd)

Sets a new commanded speed for individual wheels NOTE: DISABLES HEADING AND SPEED CONTROL

Parameters:

newLeftSpd - new commanded speed in meters per second

newRightSpd -

getSpeedCmd

public double getSpeedCmd()

Returns the commanded speed

Returns:

current commanded speed in meters per second

setHeadingCmd

public void setHeadingCmd(double newHdg)

Sets a new commanded heading

Parameters:

newHdg - new commanded heading (degrees) (0 North, 90 East)

getHeadingCmd

public double getHeadingCmd()

Returns the commanded heading

Returns:

current commanded heading in degrees (0 North, 90 East)

updateState

public void updateState(UgvState state)

Reads the current state variables from the robot and updates the state vector

Parameters:

state - object containing the state vector to be updated

resetPosition

public void resetPosition()

Resets the Aria objects to reflect an updated vehicle position (usually after a "SetPosition" command)