Class motors

motors

public class motors

This class does all the handling of the robot motors and sensors.

The functions rotate(), track(), GrabObject(), and ReleaseObject() are the functions which get called by the main Seeker class. All other functions are internal to the motors class to enable it to accomplish it's goals.

The state machine diagrams for how this class operates are Tracking, Left Bumper Hit, Rght Bumper Hit, and Rotation.

Field Summary

(package private) static TouchSensor	Armb Lego touch sensor for arm (when raised to max height)
(package private) boolean	backupdone While fixing bumpers, tracks whether the backup state is done
(package private) boolean	bArmIsDown Arm state flag
(package private) boolean	bArmIsUp Arm state flag
(package private) boolean	bHandIsClosed Arm state flag
(package private) boolean	bHandIsOpen Arm state flag
(package private) static com.ajile.components.OneShotTimer	ChangeStallTimer Change Stall Timer Variable
(package private) static CameraImage	cImage external camera class
(package private) static com.ajile.components.OneShotTimer	ColorTimer Color Tracking timer
(package private) boolean	colorTimerDone Color Tracking flag
(package private) int	currentstate State Variables
(package private) static boolean	Debug Debug Flag
(package private) static int	degrees20 Rotation count for 20 degrees
(package private) static int	degrees90 Rotation count for 90 degrees
(package private) boolean	deltaevent Data event flag
(package private) int	dir Direction Variable
(package private) boolean	done Tracks whether the 20 degree rotation is complete
(package private) static int	findColorTime Time interval to wait before declare no colors were found.
(package private) boolean	fixBackup Flags for when we need to perform certain actions.
(package private) boolean	fixed Tracks whether the bumper fixes are complete
(package private) boolean	fixForward Flags for when we need to perform certain actions.
(package private) boolean	fixLeftTurn Flags for when we need to perform certain actions.
(package private) boolean	fixRightTurn Flags for when we need to perform certain actions.
(package private) boolean	forwarddone While fixing bumpers, tracks whether the forward state is done
(package private) boolean	handstall Hand stall flag
(package private) static int	HandStallTime Time interval to wait for no movement before assuming a stall has occured
(package private) static com.ajile.components.OneShotTimer	HandStallTimer Hand Stall Timer Variable
(package private) static TouchSensor	leftb Lego touch sensor for left bumper
(package private) boolean	leftbHit Set true if the left bumper is pressed Set false otherwise
(package private) static Motor	mArm Lego control for arm motor
(package private) static Motor	mHand Lego control for hand motor
(package private) static Motor	mLeft Lego control for left motor
(package private) static int	motorArm Lego motor speed for arm movement
(package private) static int	motorForwFast Lego motor speed for fast forward
(package private) static int	motorForwSlow Lego motor speed for slow forward
(package private) static int	motorHand Lego motor speed for hand movement
(package private) static int	motorRealSlow Lego motor speed for real slow
(package private) static int	motorTurnFast Lego motor speed for fast turn
(package private) static int	motorTurnSlow Lego motor speed for slow turn
(package private) static int	movement Rotation count for forward movement
(package private) static Motor	mRight Lego control for right motor
(package private) int	nextstate State Variables
(package private) boolean	noColor Color Tracking flag
(package private) static GpioField	PortA Port A control (used for turning on buzzer)
(package private) int	prevstate State Variables
(package private) static TouchSensor	rightb Lego touch sensor for right bumper
(package private) boolean	rightbHit Set true if the right bumper is pressed Set false otherwise
(package private) boolean	rot20left Flags for when we need to perform certain actions.
(package private) boolean	rot20right Flags for when we need to perform certain actions.
(package private) static RotationSensor	sArm Lego rotation sensor for arm
(package private) static RotationSensor	sHand Lego rotation sensor for hand
(package private) static RotationSensor	sLeft Lego rotation sensor for left wheel
(package private) static RotationSensor	sRight Lego rotation sensor for right wheel
(package private) boolean	stall Stall flag
(package private) boolean	stallfixed Stall fixed flag
(package private) static int	stallFixInterval Time interval to wait before the stall variable can be changed.
(package private) static com.ajile.components.OneShotTimer	StallFixTimer Stall Fix Timer Variable
(package private) static int	stallInterval Time interval to wait before the stall variable can be changed.
(package private) int	stallleftcount Left stall counter
(package private) boolean	stallread Stall read flag
(package private) int	stallrightcount Right stall counter
(package private) static int	stallTime Time interval to wait for no movement before assuming a stall has occured
(package private) static com.ajile.components.OneShotTimer	StallTimer Stall Timer Variable
(package private) boolean	stalltimeup Stall time over flag
(package private) static int	timeInterval Time interval between polls of direction
(package private) boolean	timeIntervalDone Tracks whether the timeInterval has passed
(package private) static com.ajile.components.OneShotTimer	timer Timer to use for the time intervals between polls
(package private) boolean	turndone While fixing the bumpers, tracks whether the 90 degree turns are complete

Constructor Summary

motors(CameraImage camera)
Sets default values for all class members

Also, sets up the event listeners for the multiple input sensors.

Method Summary

void	dataEvent(int Count) If motors are suppose to be moving, but the rotation count is not changing, a stall timer will start.
private void	fixLeft() Runs a small sequence to fix left bumper hit save rotation value Turn 90 degrees Right while checking for right bumper hits If right bumper hits, back up until it no longer hits Once 90, travel forward a few inches Turn 90 degrees Left while checking for left bumper hits If left bumper hits, recursively call fixLeft, otherwise retrieve old rotation values and return
private void	fixRight() Runs a small sequence to fix right bumper hit. Save rotation value Turn 90 degree Left while checking for left bumper hits If left bumper hits, back up until it no longer hits Once 90, travel forward a few inches Turn 90 degrees Right while checking for right bumper hits If right bumper hits, recursively call fixRight, otherwise retrieve old rotation values and return
void	GrabObject() Runs through the sequence of commands to pick up an object.
static void	main(java.lang.String[] args) Main Function Will use for debugging and unit testing
void	ReleaseObject() Opens the gripper to release the object.
void	reset() Initializes all the flags and variables used by the class to make sure everything is in the initial state.
void	rotate(int dir) Sets the motors to rotate the robot 20 degrees in the given direction.
boolean	track() Set the motors to correctly track an object. Calls GetTrackDirection() to determine which direction to rotate to as well as whether to move forward or not. Will handle wall/object collision by turning 90 degrees opposite of collision moving a few inches, and swing back to the original orientation. The state machine diagrams for how this class operates are Tracking, Left Bumper Hit, and Rght Bumper Hit.

Field Detail

mRight

static final Motor mRight

Lego control for right motor

mLeft

static final Motor mLeft

Lego control for left motor

mArm

static final Motor mArm

Lego control for arm motor

mHand

static final Motor mHand

Lego control for hand motor

motorRealSlow

static int motorRealSlow

Lego motor speed for real slow

motorHand

static int motorHand

Lego motor speed for hand movement

motorArm

static int motorArm

Lego motor speed for arm movement

motorTurnSlow

static int motorTurnSlow

Lego motor speed for slow turn

motorTurnFast

static int motorTurnFast

Lego motor speed for fast turn

motorForwSlow

static int motorForwSlow

Lego motor speed for slow forward

motorForwFast

static int motorForwFast

Lego motor speed for fast forward

Debug

static boolean Debug

Debug Flag

timeInterval

static int timeInterval

Time interval between polls of direction

stallTime

static int stallTime

Time interval to wait for no movement before assuming a stall has occured

HandStallTime

static int HandStallTime

Time interval to wait for no movement before assuming a stall has occured

stallInterval

static int stallInterval

Time interval to wait before the stall variable can be changed.

stallFixInterval

static int stallFixInterval

Time interval to wait before the stall variable can be changed.

findColorTime

static int findColorTime

Time interval to wait before declare no colors were found.

degrees90

static int degrees90

Rotation count for 90 degrees

degrees20

static int degrees20

Rotation count for 20 degrees

movement

static int movement

Rotation count for forward movement

sLeft

static final RotationSensor sLeft

Lego rotation sensor for left wheel

sRight

static final RotationSensor sRight

Lego rotation sensor for right wheel

sArm

static final RotationSensor sArm

Lego rotation sensor for arm

sHand

static final RotationSensor sHand

Lego rotation sensor for hand

rightb

static final TouchSensor rightb

Lego touch sensor for right bumper

leftb

static final TouchSensor leftb

Lego touch sensor for left bumper

Armb

static final TouchSensor Armb

Lego touch sensor for arm (when raised to max height)

PortA

static final GpioField PortA

Port A control (used for turning on buzzer)

timer

static com.ajile.components.OneShotTimer timer

Timer to use for the time intervals between polls

dir

int dir

Direction Variable

currentstate

int currentstate

State Variables

nextstate

int nextstate

State Variables

prevstate

int prevstate

State Variables

done

boolean done

Tracks whether the 20 degree rotation is complete

turndone

boolean turndone

While fixing the bumpers, tracks whether the 90 degree turns are complete

backupdone

boolean backupdone

While fixing bumpers, tracks whether the backup state is done

forwarddone

boolean forwarddone

While fixing bumpers, tracks whether the forward state is done

fixed

boolean fixed

Tracks whether the bumper fixes are complete

fixLeftTurn

boolean fixLeftTurn

Flags for when we need to perform certain actions.

fixRightTurn

boolean fixRightTurn

Flags for when we need to perform certain actions.

fixForward

boolean fixForward

Flags for when we need to perform certain actions.

fixBackup

boolean fixBackup

Flags for when we need to perform certain actions.

rot20right

boolean rot20right

Flags for when we need to perform certain actions.

rot20left

boolean rot20left

Flags for when we need to perform certain actions.

rightbHit

boolean rightbHit

Set true if the right bumper is pressed Set false otherwise

leftbHit

boolean leftbHit

Set true if the left bumper is pressed Set false otherwise

timeIntervalDone

boolean timeIntervalDone

Tracks whether the timeInterval has passed

cImage

static CameraImage cImage

external camera class

bArmIsUp

boolean bArmIsUp

Arm state flag

bArmIsDown

boolean bArmIsDown

Arm state flag

bHandIsClosed

boolean bHandIsClosed

Arm state flag

bHandIsOpen

boolean bHandIsOpen

Arm state flag

ColorTimer

static com.ajile.components.OneShotTimer ColorTimer

Color Tracking timer

noColor

boolean noColor

Color Tracking flag

colorTimerDone

boolean colorTimerDone

Color Tracking flag

StallTimer

static com.ajile.components.OneShotTimer StallTimer

Stall Timer Variable

HandStallTimer

static com.ajile.components.OneShotTimer HandStallTimer

Hand Stall Timer Variable

ChangeStallTimer

static com.ajile.components.OneShotTimer ChangeStallTimer

Change Stall Timer Variable

StallFixTimer

static com.ajile.components.OneShotTimer StallFixTimer

Stall Fix Timer Variable

stall

boolean stall

Stall flag

handstall

boolean handstall

Hand stall flag

stalltimeup

boolean stalltimeup

Stall time over flag

stallfixed

boolean stallfixed

Stall fixed flag

stallread

boolean stallread

Stall read flag

deltaevent

boolean deltaevent

Data event flag

stallrightcount

int stallrightcount

Right stall counter

stallleftcount

int stallleftcount

Left stall counter

Constructor Detail

motors

public motors(CameraImage camera)

Sets default values for all class members

Also, sets up the event listeners for the multiple input sensors.

Parameters:

camera - Reference to the camera class which will be used for getting the tracking direction

Method Detail

reset

public void reset()

Initializes all the flags and variables used by the class to make sure everything is in the initial state.

main

public static void main(java.lang.String[] args)

Main Function Will use for debugging and unit testing

Parameters:

args - Input arguments passed from the OS

rotate

public void rotate(int dir)

Sets the motors to rotate the robot 20 degrees in the given direction. Will handle wall/object collision by turning 90 degrees opposite of collision moving a few inches, and swing back to the original orientation.

The state machine diagrams for how this function operates are Rotation, Left Bumper Hit, and Rght Bumper Hit.

Parameters:

dir - Direction of rotation. 0=Right, 1=Left

track

public boolean track()

Set the motors to correctly track an object.
Calls GetTrackDirection() to determine which direction to rotate to as well as whether to move forward or not.
Will handle wall/object collision by turning 90 degrees opposite of collision moving a few inches, and swing back to the original orientation.

The state machine diagrams for how this class operates are Tracking, Left Bumper Hit, and Rght Bumper Hit.

Returns:

True if object found. False if timed out (3 sec) looking for object.

fixLeft

private void fixLeft()

Runs a small sequence to fix left bumper hit

• save rotation value
• Turn 90 degrees Right while checking for right bumper hits
• If right bumper hits, back up until it no longer hits
• Once 90, travel forward a few inches
• Turn 90 degrees Left while checking for left bumper hits
• If left bumper hits, recursively call fixLeft, otherwise retrieve old rotation values and return

fixRight

private void fixRight()

Runs a small sequence to fix right bumper hit.

• Save rotation value
• Turn 90 degree Left while checking for left bumper hits
• If left bumper hits, back up until it no longer hits
• Once 90, travel forward a few inches
• Turn 90 degrees Right while checking for right bumper hits
• If right bumper hits, recursively call fixRight, otherwise retrieve old rotation values and return

dataEvent

public void dataEvent(int Count)

If motors are suppose to be moving, but the rotation count is not changing, a stall timer will start. Movement of the rotation count will stop timer. If timer reaches the end, a stall has occurred.

Parameters:

Count - The angular movement of the left rotation sensor

GrabObject

public void GrabObject()

Runs through the sequence of commands to pick up an object. It does this by the following sequence of actions.

1. Raises the arm till the arm button (Armb) is pushed
2. Open the gripper all the way (till it stalls)
3. Lower the arm (sArm rotation count of 5)
4. Close the hand (sHand rotation count of 19)
5. Raise the arm

ReleaseObject

public void ReleaseObject()

Opens the gripper to release the object. Sets the motor to open the hand until it stalls, meaning it's open all the way.