execution.uuv.hardware

Class SteerableSonar

java.lang.Object

execution.uuv.hardware.SteerableSonar

public class SteerableSonar
extends Object

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected double	beamHeight height of sonar beam (degrees)
protected double	beamWidth width of sonar beam (degrees)
protected double	maxRange maximum sonar range
protected int	model type of sonar
protected double	stepSize steering step for each increment (degrees)

Constructor Summary

Constructors

Constructor and Description
SteerableSonar(UuvExecution execution, double width, double height, double step, double range, int type) Creates a new instance of SteerableSonar

Method Summary

Modifier and Type	Method and Description
protected double	getBearing() Returns the current sonar bearing
protected double	getRange() Returns the current sonar range
protected double	getStrength() Returns the current sonar strength
protected double	ping() Pings the sonar and returns the range
protected void	step(int direction) Steps the sonar right or left

Methods inherited from class java.lang.Object

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

Field Detail

beamWidth

protected double beamWidth

width of sonar beam (degrees)

beamHeight

protected double beamHeight

height of sonar beam (degrees)

stepSize

protected double stepSize

steering step for each increment (degrees)

maxRange

protected double maxRange

maximum sonar range

model

protected int model

type of sonar

Constructor Detail

SteerableSonar

public SteerableSonar(UuvExecution execution,
                      double width,
                      double height,
                      double step,
                      double range,
                      int type)

Creates a new instance of SteerableSonar

Parameters:

execution - UuvExecution reference to main class of auv execution

width - of sonar beam

height - of sonar beam

step - size of sonar steering

range - maximum range of sonar

type - model of sonar

Method Detail

step

protected void step(int direction)

Steps the sonar right or left

Parameters:

direction - the sonar is to be stepped

ping

protected double ping()

Pings the sonar and returns the range

Returns:

double range of sonar ping

getRange

protected double getRange()

Returns the current sonar range

Returns:

double current sonar range

getBearing

protected double getBearing()

Returns the current sonar bearing

Returns:

double current sonar bearing

getStrength

protected double getStrength()

Returns the current sonar strength

Returns:

double current sonar strength