josx.vision
Class RCX

java.lang.Object
  extended by josx.vision.RCX
All Implemented Interfaces:
josx.rcxcomm.RemoteVisionConstants

public class RCX
extends java.lang.Object
implements josx.rcxcomm.RemoteVisionConstants

Remote execution of commands for vision control.

Author:
Lawrie Griffiths

Field Summary
 
Fields inherited from interface josx.rcxcomm.RemoteVisionConstants
METHOD_JOSX_VISION_RCX_BACKWARD_I, METHOD_JOSX_VISION_RCX_BACKWARD_V, METHOD_JOSX_VISION_RCX_CONTROL_MOTORS, METHOD_JOSX_VISION_RCX_FORWARD_I, METHOD_JOSX_VISION_RCX_FORWARD_V, METHOD_JOSX_VISION_RCX_PLAY_TONE, METHOD_JOSX_VISION_RCX_SCAN_LEFT_I, METHOD_JOSX_VISION_RCX_SCAN_LEFT_V, METHOD_JOSX_VISION_RCX_SCAN_RIGHT_I, METHOD_JOSX_VISION_RCX_SCAN_RIGHT_V, METHOD_JOSX_VISION_RCX_SET_POWER, METHOD_JOSX_VISION_RCX_SPIN_LEFT_I, METHOD_JOSX_VISION_RCX_SPIN_LEFT_V, METHOD_JOSX_VISION_RCX_SPIN_RIGHT_I, METHOD_JOSX_VISION_RCX_SPIN_RIGHT_V, METHOD_JOSX_VISION_RCX_STOP, METHOD_JOSX_VISION_RCX_TILT_DOWN_I, METHOD_JOSX_VISION_RCX_TILT_UP_I, METHOD_JOSX_VISION_RCX_TURN_LEFT_I, METHOD_JOSX_VISION_RCX_TURN_LEFT_V, METHOD_JOSX_VISION_RCX_TURN_RIGHT_I, METHOD_JOSX_VISION_RCX_TURN_RIGHT_V
 
Constructor Summary
RCX(java.lang.String port)
           
 
Method Summary
 void backward()
          Move the robot backwards until stop or another command is executed.
 void backward(int n)
          Move the robot backwards n units.
 void controlMotors(byte motors, byte direction, byte n)
          Move the selected motors in the selected direction for n units
 void forward()
          Move the robot forwards until stop or another command is executed.
 void forward(int n)
          Move the robot forwards n units.
 void playTone(short frequency, byte duration)
          Play a tone
 void scanLeft()
          Scan left until stop or another command is executed.
 void scanLeft(int n)
          Scan left n units.
 void scanRight()
          Scan right until stop or another command is executed.
 void scanRight(int n)
          Scan right n units.
 void setPower(byte motors, byte power)
          Set the power of selected motors
 void spinLeft()
          Spin left until stop or another command is executed.
 void spinLeft(int n)
          Spin left n units.
 void spinRight()
          Spin right until stop or another command is executed.
 void spinRight(int n)
          Spin right n units.
 void stop()
          Stop all motors
 void tiltDown(int n)
          Tilt the camera down n units
 void tiltUp(int n)
          Tilt the camera up n units
 void turnLeft()
          Turn left until stop or another command is executed.
 void turnLeft(int n)
          Turn left n units.
 void turnRight()
          Turn right until stop or another command is executed.
 void turnRight(int n)
          Turn right n units.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

RCX

public RCX(java.lang.String port)
    throws java.io.IOException
Throws:
java.io.IOException
Method Detail

forward

public void forward()
Move the robot forwards until stop or another command is executed.


forward

public void forward(int n)
Move the robot forwards n units.

Parameters:
n - the number of units to move

backward

public void backward()
Move the robot backwards until stop or another command is executed.


backward

public void backward(int n)
Move the robot backwards n units.

Parameters:
n - the number of units to move

spinLeft

public void spinLeft()
Spin left until stop or another command is executed.


spinLeft

public void spinLeft(int n)
Spin left n units.

Parameters:
n - the number of units to move

turnLeft

public void turnLeft()
Turn left until stop or another command is executed.


turnLeft

public void turnLeft(int n)
Turn left n units.

Parameters:
n - the number of units to move

scanLeft

public void scanLeft()
Scan left until stop or another command is executed.


scanLeft

public void scanLeft(int n)
Scan left n units.

Parameters:
n - the number of units to move

spinRight

public void spinRight()
Spin right until stop or another command is executed.


spinRight

public void spinRight(int n)
Spin right n units.

Parameters:
n - the number of units to move

turnRight

public void turnRight()
Turn right until stop or another command is executed.


turnRight

public void turnRight(int n)
Turn right n units.

Parameters:
n - the number of units to move

scanRight

public void scanRight()
Scan right until stop or another command is executed.


scanRight

public void scanRight(int n)
Scan right n units.

Parameters:
n - the number of units to move

stop

public void stop()
Stop all motors


setPower

public void setPower(byte motors,
                     byte power)
Set the power of selected motors

Parameters:
motors - the selected motors
power - value 0-7

controlMotors

public void controlMotors(byte motors,
                          byte direction,
                          byte n)
Move the selected motors in the selected direction for n units

Parameters:
motors - the selected motors
direction - the direction to move in 0 - foreards, 1 backwards
n - the number of units to move

playTone

public void playTone(short frequency,
                     byte duration)
Play a tone

Parameters:
frequency - the tone frequency
duration - the duration of the tone

tiltUp

public void tiltUp(int n)
Tilt the camera up n units

Parameters:
n - the number of units to move

tiltDown

public void tiltDown(int n)
Tilt the camera down n units

Parameters:
n - the number of units to move