amigo
Class Amigo

java.lang.Object
  amigo.Amigo

All Implemented Interfaces:

java.io.Serializable, RAExternalAgentInterface

Direct Known Subclasses:

AmigoImpl

public abstract class Amigo
extends java.lang.Object
implements java.io.Serializable, RAExternalAgentInterface

The class that interacts with the physical Amigo. This class will load a library on which it can perform some basic operations for controlling a robot.

This class is abstract because it does not provide support for the Amigo camera module. Implement the getCameraValue method in a subclass to get a fully functional robot! [BTN][SdJ]

See Also:

Serialized Form

Constructor Summary

Amigo()
Default constructor.

Method Summary

void	connect() Connect the robot.
void	disconnect() Disconnect the robot.
abstract RADataType	getCameraValue() Implement this method for camera operation to work.
java.lang.String[]	getSensorIDs() Return the sensor id's in use by the robot.
RADataType	getSensorValue(java.lang.String sensor_id) Return the sensor value of the sensor indicated with the id specified.
void	initRobot() The init methods are used to create the robot on the server.
void	initRobot(int maxSpeed) The init methods are used to create the robot on the server.
void	robotGo(double speed, double angle) Command the robot to go somewhere!

Methods inherited from class java.lang.Object

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

Constructor Detail

Amigo

public Amigo()

Default constructor.

Method Detail

initRobot

public final void initRobot()

The init methods are used to create the robot on the server. The Aria object will then be made and a pointer holds the object's place in the stack.

initRobot

public final void initRobot(int maxSpeed)

The init methods are used to create the robot on the server. The Aria object will then be made and a pointer holds the object's place in the stack.

connect

public final void connect()

Connect the robot.

Specified by:

connect in interface RAExternalAgentInterface

disconnect

public final void disconnect()

Disconnect the robot.

Specified by:

disconnect in interface RAExternalAgentInterface

robotGo

public final void robotGo(double speed,
                          double angle)

Command the robot to go somewhere! Speed must vary between 0 and 1 for no movement and full ahead resp. Angle between -1 and +1 for -180 and +180 resp. Other values will cause serious errors.

Specified by:

robotGo in interface RAExternalAgentInterface

getSensorIDs

public final java.lang.String[] getSensorIDs()

Return the sensor id's in use by the robot.

Specified by:

getSensorIDs in interface RAExternalAgentInterface

getSensorValue

public final RADataType getSensorValue(java.lang.String sensor_id)
                                throws RAException

Return the sensor value of the sensor indicated with the id specified.

Specified by:

getSensorValue in interface RAExternalAgentInterface

Throws:

RAException

getCameraValue

public abstract RADataType getCameraValue()
                                   throws RAException

Implement this method for camera operation to work.

Throws:

RAException