execution.ugv.hardware

Class ControlHardware

java.lang.Object

execution.ugv.hardware.ControlHardware

public class ControlHardware
extends Object

Class to facilitate interface with control (differential wheel) hardware.

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	resetPosition() Resets the robot's self-maintained position to match the state vector
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	setTrack(int whichTrack, double setting) Sets the ugv track speed NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file
void	shutdown() Shuts down the aria processes associated with the AriaInterface object
void	updateState(UgvState state) Updates the execution level state vector using the robot's internally maintained state

Methods inherited from class java.lang.Object

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

Constructor Detail

ControlHardware

public ControlHardware(UgvExecution execution)

Creates a new instance of ControlHardware

Parameters:

execution - instance of TrackedUgvExecution

Method Detail

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 -

setHeadingCmd

public void setHeadingCmd(double newHdg)

Sets a new commanded heading

Parameters:

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

resetPosition

public void resetPosition()

Resets the robot's self-maintained position to match the state vector

updateState

public void updateState(UgvState state)

Updates the execution level state vector using the robot's internally maintained state

Parameters:

state -

shutdown

public void shutdown()

Shuts down the aria processes associated with the AriaInterface object

setTrack

public void setTrack(int whichTrack,
                     double setting)

Sets the ugv track speed NOTE: values less than 0.001 are assumed to be zero to prevent the scientific notation of extremely small values from invalidating the AVCL output file

Parameters:

whichTrack - identifies which track (left or right is being ordered)

setting - ordered meters per second speed of the track