Class JavaRCX

java.lang.Object
  JavaRCX

Direct Known Subclasses:

LineFollower

public class JavaRCX
extends java.lang.Object

JavaRCX.java 
 Contains basic methods and variables common to all robot objectives.

Since:

1.0

Field Summary

static int	ALL All sensors dark.
static int	CENTER_ONLY Center sensor dark.
static int	CENTER_RIGHT Center and right sensors dark.
static int	DARK The level at which readings are considered black by the light sensor (<=DARK)
static int	L_ROTATION Counter variable used to estimate how far the robot should turn left when lost
static int	LEFT_CENTER Left and center sensors dark.
static int	LEFT_ONLY Left sensor dark.
static int	LEFT_RIGHT Left and right sensors dark.
static int	NONE No sensors dark.
static int	POWER Power level of the motors.
static int	R_ROTATION Counter variable used to estimate how far the robot should turn right when lost
static int	RIGHT_ONLY Right sensor dark.
static int	state Which state the sensors of the robot are in - possible values are constants below.
static LightWatcher	watcher A separate background thread that reads values from the light sensors and updates the state variable.

Constructor Summary

JavaRCX()

Method Summary

static void	initialize() Precondition: State must start at CENTER_ONLY.
static void	lost() When the state NONE occurs this method will scan to the left for L_ROTATION then scan farther to the right R_ROTATION.
static void	powerOff() Exit program with 5 second delay.

Methods inherited from class java.lang.Object

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

Field Detail

state

public static int state

Which state the sensors of the robot are in - possible values are constants below.

watcher

public static LightWatcher watcher

A separate background thread that reads values from the light sensors and updates the state variable.

NONE

public static final int NONE

No sensors dark.

See Also:

Constant Field Values

LEFT_ONLY

public static final int LEFT_ONLY

Left sensor dark.

See Also:

Constant Field Values

CENTER_ONLY

public static final int CENTER_ONLY

Center sensor dark.

See Also:

Constant Field Values

RIGHT_ONLY

public static final int RIGHT_ONLY

Right sensor dark.

See Also:

Constant Field Values

LEFT_CENTER

public static final int LEFT_CENTER

Left and center sensors dark.

See Also:

Constant Field Values

LEFT_RIGHT

public static final int LEFT_RIGHT

Left and right sensors dark.

See Also:

Constant Field Values

CENTER_RIGHT

public static final int CENTER_RIGHT

Center and right sensors dark.

See Also:

Constant Field Values

ALL

public static final int ALL

All sensors dark.

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Constant Field Values

DARK

public static final int DARK

The level at which readings are considered black by the light sensor (<=DARK)

See Also:

Constant Field Values

POWER

public static final int POWER

Power level of the motors.
 Try More experimentation with power levels and how much better light sensors are able 
 to read at different speeds of the motor.

See Also:

Constant Field Values

R_ROTATION

public static final int R_ROTATION

Counter variable used to estimate how far the robot should turn right when lost

See Also:

Constant Field Values

L_ROTATION

public static final int L_ROTATION

Counter variable used to estimate how far the robot should turn left when lost

See Also:

Constant Field Values

Constructor Detail

JavaRCX

public JavaRCX()

Method Detail

lost

public static void lost()

When the state NONE occurs this method will scan to the left for L_ROTATION 
 then scan farther to the right R_ROTATION.
 This will ultimately cause the robot to do a 360 unless it hits a black line at some point. 

initialize

public static void initialize()

 Precondition: State must start at CENTER_ONLY.
 Activates the sensors, sets up motor power,starts light sensor thread.

powerOff

public static void powerOff()

Exit program with 5 second delay.