robi.sim.objects
Class SimRobot

java.lang.Object
  |
  +--java.awt.Component
        |
        +--java.awt.Container
              |
              +--javax.swing.JComponent
                    |
                    +--robi.sim.objects.SimObject
                          |
                          +--robi.sim.objects.SimRobot

All Implemented Interfaces:

java.awt.event.ActionListener, java.util.EventListener, java.awt.image.ImageObserver, java.awt.MenuContainer, MotorListener, java.lang.Runnable, SensorCaller, java.io.Serializable

public class SimRobot

extends SimObject

implements MotorListener, SensorCaller, java.lang.Runnable

Author:

Reto Witschi The robot object in the simulation

See Also:

Serialized Form

Nested Class Summary

Nested classes inherited from class robi.sim.objects.SimObject

SimObject.SimMouseAdapter, SimObject.SimMouseMotionAdapter

Field Summary

double	angle Angle (in radiant)
java.awt.geom.AffineTransform	at Current transformation
boolean	isRunning Running switch
boolean	isThRunning Thread sunning switch
int	motorA Power of motor A
int	motorB Power of motor B
int	motorC Power of motor C
SimSensor[]	sensor Sensors 1..3
SimRoboOption	sro Robot Option Panel
java.lang.Thread	thRobo Robo thread
private double	xc Center of canvas
private double	yc Center of canvas

Fields inherited from class robi.sim.objects.SimObject

DISABLE, ENABLE, height, img, picHeight, picWidth, selected, width, xpos, ypos

Fields inherited from class javax.swing.JComponent

accessibleContext, listenerList, TOOL_TIP_TEXT_KEY, ui, UNDEFINED_CONDITION, WHEN_ANCESTOR_OF_FOCUSED_COMPONENT, WHEN_FOCUSED, WHEN_IN_FOCUSED_WINDOW

Fields inherited from class java.awt.Container

Fields inherited from class java.awt.Component

BOTTOM_ALIGNMENT, CENTER_ALIGNMENT, LEFT_ALIGNMENT, RIGHT_ALIGNMENT, TOP_ALIGNMENT

Fields inherited from interface java.awt.image.ImageObserver

ABORT, ALLBITS, ERROR, FRAMEBITS, HEIGHT, PROPERTIES, SOMEBITS, WIDTH

Constructor Summary

SimRobot(java.lang.String n, int x, int y)

Method Summary

void	controlMotor(char aMotor, int aMode, int aPower) Implementation of MotorListener interface
private void	displayRCXValues() Refreshs RCX values
int	getSensorValue(int iSensorId) Implementation of SensorCaller interface Returns the requested sensor value
private void	loadPicture(java.lang.String path, java.lang.String filename) Loads roboter picture
void	paintComponent(java.awt.Graphics g) Paints robot and sets new transformation values
void	remove() Removes this object from simulation
void	removeSensor() Removes sensors from robot
void	run() Main method of painting thread.
private void	setSensors() Sets sensor position
void	sh() Shows robot and starts painting thread
void	start() Starts robot movements
void	step() Calculates new position values
void	stop() Stops robot movements

Methods inherited from class robi.sim.objects.SimObject

actionPerformed, getCX, getCY, getPreferredSize, setLocation, setMenu

Methods inherited from class javax.swing.JComponent

addAncestorListener, addNotify, addPropertyChangeListener, addPropertyChangeListener, addVetoableChangeListener, computeVisibleRect, contains, createToolTip, disable, enable, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, fireVetoableChange, getAccessibleContext, getActionForKeyStroke, getActionMap, getAlignmentX, getAlignmentY, getAncestorListeners, getAutoscrolls, getBorder, getBounds, getClientProperty, getComponentGraphics, getConditionForKeyStroke, getDebugGraphicsOptions, getDefaultLocale, getGraphics, getHeight, getInputMap, getInputMap, getInputVerifier, getInsets, getInsets, getListeners, getLocation, getMaximumSize, getMinimumSize, getNextFocusableComponent, getPropertyChangeListeners, getPropertyChangeListeners, getRegisteredKeyStrokes, getRootPane, getSize, getToolTipLocation, getToolTipText, getToolTipText, getTopLevelAncestor, getTransferHandler, getUIClassID, getVerifyInputWhenFocusTarget, getVetoableChangeListeners, getVisibleRect, getWidth, getX, getY, grabFocus, isDoubleBuffered, isLightweightComponent, isManagingFocus, isMaximumSizeSet, isMinimumSizeSet, isOpaque, isOptimizedDrawingEnabled, isPaintingTile, isPreferredSizeSet, isRequestFocusEnabled, isValidateRoot, paint, paintBorder, paintChildren, paintImmediately, paintImmediately, paramString, print, printAll, printBorder, printChildren, printComponent, processComponentKeyEvent, processKeyBinding, processKeyEvent, processMouseMotionEvent, putClientProperty, registerKeyboardAction, registerKeyboardAction, removeAncestorListener, removeNotify, removePropertyChangeListener, removePropertyChangeListener, removeVetoableChangeListener, repaint, repaint, requestDefaultFocus, requestFocus, requestFocus, requestFocusInWindow, requestFocusInWindow, resetKeyboardActions, reshape, revalidate, scrollRectToVisible, setActionMap, setAlignmentX, setAlignmentY, setAutoscrolls, setBackground, setBorder, setDebugGraphicsOptions, setDefaultLocale, setDoubleBuffered, setEnabled, setFont, setForeground, setInputMap, setInputVerifier, setMaximumSize, setMinimumSize, setNextFocusableComponent, setOpaque, setPreferredSize, setRequestFocusEnabled, setToolTipText, setTransferHandler, setUI, setVerifyInputWhenFocusTarget, setVisible, unregisterKeyboardAction, update, updateUI

Methods inherited from class java.awt.Container

add, add, add, add, add, addContainerListener, addImpl, applyComponentOrientation, areFocusTraversalKeysSet, countComponents, deliverEvent, doLayout, findComponentAt, findComponentAt, getComponent, getComponentAt, getComponentAt, getComponentCount, getComponents, getContainerListeners, getFocusTraversalKeys, getFocusTraversalPolicy, getLayout, insets, invalidate, isAncestorOf, isFocusCycleRoot, isFocusCycleRoot, isFocusTraversalPolicySet, layout, list, list, locate, minimumSize, paintComponents, preferredSize, printComponents, processContainerEvent, processEvent, remove, remove, removeAll, removeContainerListener, setFocusCycleRoot, setFocusTraversalKeys, setFocusTraversalPolicy, setLayout, transferFocusBackward, transferFocusDownCycle, validate, validateTree

Methods inherited from class java.awt.Component

action, add, addComponentListener, addFocusListener, addHierarchyBoundsListener, addHierarchyListener, addInputMethodListener, addKeyListener, addMouseListener, addMouseMotionListener, addMouseWheelListener, bounds, checkImage, checkImage, coalesceEvents, contains, createImage, createImage, createVolatileImage, createVolatileImage, disableEvents, dispatchEvent, enable, enableEvents, enableInputMethods, getBackground, getBounds, getColorModel, getComponentListeners, getComponentOrientation, getCursor, getDropTarget, getFocusCycleRootAncestor, getFocusListeners, getFocusTraversalKeysEnabled, getFont, getFontMetrics, getForeground, getGraphicsConfiguration, getHierarchyBoundsListeners, getHierarchyListeners, getIgnoreRepaint, getInputContext, getInputMethodListeners, getInputMethodRequests, getKeyListeners, getLocale, getLocation, getLocationOnScreen, getMouseListeners, getMouseMotionListeners, getMouseWheelListeners, getName, getParent, getPeer, getSize, getToolkit, getTreeLock, gotFocus, handleEvent, hasFocus, hide, imageUpdate, inside, isBackgroundSet, isCursorSet, isDisplayable, isEnabled, isFocusable, isFocusOwner, isFocusTraversable, isFontSet, isForegroundSet, isLightweight, isShowing, isValid, isVisible, keyDown, keyUp, list, list, list, location, lostFocus, mouseDown, mouseDrag, mouseEnter, mouseExit, mouseMove, mouseUp, move, nextFocus, paintAll, postEvent, prepareImage, prepareImage, processComponentEvent, processFocusEvent, processHierarchyBoundsEvent, processHierarchyEvent, processInputMethodEvent, processMouseEvent, processMouseWheelEvent, remove, removeComponentListener, removeFocusListener, removeHierarchyBoundsListener, removeHierarchyListener, removeInputMethodListener, removeKeyListener, removeMouseListener, removeMouseMotionListener, removeMouseWheelListener, repaint, repaint, repaint, resize, resize, setBounds, setBounds, setComponentOrientation, setCursor, setDropTarget, setFocusable, setFocusTraversalKeysEnabled, setIgnoreRepaint, setLocale, setLocation, setName, setSize, setSize, show, show, size, toString, transferFocus, transferFocusUpCycle

Methods inherited from class java.lang.Object

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

Field Detail

thRobo

public java.lang.Thread thRobo

Robo thread

angle

public double angle

Angle (in radiant)

at

public java.awt.geom.AffineTransform at

Current transformation

motorA

public int motorA

Power of motor A

motorB

public int motorB

Power of motor B

motorC

public int motorC

Power of motor C

sensor

public SimSensor[] sensor

Sensors 1..3

xc

private double xc

Center of canvas

yc

private double yc

Center of canvas

isRunning

public boolean isRunning

Running switch

isThRunning

public boolean isThRunning

Thread sunning switch

sro

public SimRoboOption sro

Robot Option Panel

Constructor Detail

SimRobot

public SimRobot(java.lang.String n,
                int x,
                int y)

Method Detail

sh

public void sh()

Shows robot and starts painting thread

loadPicture

private final void loadPicture(java.lang.String path,
                               java.lang.String filename)

Loads roboter picture

paintComponent

public void paintComponent(java.awt.Graphics g)

Paints robot and sets new transformation values

Overrides:

paintComponent in class javax.swing.JComponent

run

public void run()

Main method of painting thread. Calculates robot position every 100ms. Collision detection (with frame and lights).

Specified by:

run in interface java.lang.Runnable

controlMotor

public void controlMotor(char aMotor,
                         int aMode,
                         int aPower)

Implementation of MotorListener interface

Specified by:

controlMotor in interface MotorListener

Parameters:

aMotor - The motor id: 'A', 'B' or 'C'.

aMode - 1=forward, 2=backward, 3=stop, 4=float

aPower - A value in the range [0-7].

getSensorValue

public int getSensorValue(int iSensorId)

Implementation of SensorCaller interface Returns the requested sensor value

Specified by:

getSensorValue in interface SensorCaller

step

public void step()

Calculates new position values

start

public void start()

Starts robot movements

stop

public void stop()

Stops robot movements

displayRCXValues

private void displayRCXValues()

Refreshs RCX values

setSensors

private void setSensors()

Sets sensor position

removeSensor

public void removeSensor()

Removes sensors from robot

remove

public void remove()

Removes this object from simulation

Specified by:

remove in class SimObject