com.asus.robotframework.API

Class MotionControl

java.lang.Object

com.asus.robotframework.API.MotionControl

public class MotionControl
extends java.lang.Object

Provides body movement and head control.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	MotionControl.Direction Parameters for movement direction
static class	MotionControl.SpeedLevel Parameters for speed level

Method Summary

Modifier and Type	Method and Description
int	goTo(Location targetLocation, boolean locateAtTarget) Move from current position to target position (x, y, theta), based on the path-finding algorithm.
int	goTo(java.lang.String destination) Ask robot to go to the destination.
int	moveBody(float relativeX, float relativeY, float relativeThetaRadian) Move body to a new location and turn head to a new angle relative to original pose.
int	moveBody(float relativeX, float relativeY, float relativeThetaRadian, MotionControl.SpeedLevel.Body speedLevel) Move body to a new location and turn head to a new angle relative to original pose with specified speed level.
int	moveBody(float relativeX, float relativeY, int relativeThetaDegree) Move body to a new location and turn head to a new angle relative to original pose.
int	moveBody(float relativeX, float relativeY, int relativeThetaDegree, MotionControl.SpeedLevel.Body speedLevel) Move body to a new location and turn head to a new angle relative to original pose with specified speed level.
int	moveHead(float yawRadian, float pitchRadian, MotionControl.SpeedLevel.Head speedLevel) Turn head with specified speed level.
int	moveHead(int yawDegree, int pitchDegree, MotionControl.SpeedLevel.Head speedLevel) Ask robot to turn its head, use SpeedLevel.Head to control moving speed.
int	remoteControlBody(MotionControl.Direction.Body direction) Control body to move until remoteControlBody(STOP) or stopMoving() command is received.
int	remoteControlHead(MotionControl.Direction.Head direction) Control head to move until remoteControlHead(STOP) or stopMoving() command is received.
int	stopMoving() Stop all robot's movement, including neck and body.

Methods inherited from class java.lang.Object

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

Method Detail

goTo

public int goTo(Location targetLocation,
                boolean locateAtTarget)

Move from current position to target position (x, y, theta), based on the path-finding algorithm.

Parameters:

targetLocation - target location of the robot

locateAtTarget - true: robot will locate at target location false: robot will not locate at target location

Returns:

serial number of the command

goTo

public int goTo(java.lang.String destination)

Ask robot to go to the destination.

Parameters:

destination - location level which was recorded on the map's content provided by the user

Returns:

serial number of the command

moveBody

public int moveBody(float relativeX,
                    float relativeY,
                    float relativeThetaRadian)

Move body to a new location and turn head to a new angle relative to original pose. If moveBody not successfully completed will return error code and onResult callback, result bundle will have an float array with 3 elements, key is "doneOdometryData". doneOdometryData: an array of floats with 3 elements float[0]: done x axis data of odometry sensor (meter) float[1]: done y axis data of odometry sensor (meter) float[2]: done theta rotational data of odometry sensor (radian)

Parameters:

relativeX - relative distance (in meters) in x-axis direction, positive value would go forward

relativeY - relative distance (in meters) in y-axis direction, positive value would go right

relativeThetaRadian - relative rotational angle (in radian)

Returns:

serial number of the command

moveBody

public int moveBody(float relativeX,
                    float relativeY,
                    float relativeThetaRadian,
                    MotionControl.SpeedLevel.Body speedLevel)

Move body to a new location and turn head to a new angle relative to original pose with specified speed level.

Parameters:

relativeX - relative distance (in meters) in x-axis direction, positive value would go forward

relativeY - relative distance (in meters) in y-axis direction, positive value would go right

relativeThetaRadian - relative rotational angle (in radians)

speedLevel - speed level from L1 to L7, L1 is slowest, and L7 is fastest

Returns:

serial number of the command

moveBody

public int moveBody(float relativeX,
                    float relativeY,
                    int relativeThetaDegree)

Move body to a new location and turn head to a new angle relative to original pose. If moveBody not successfully completed will return error code and onResult callback, result bundle will have an float array with 3 elements, key is "doneOdometryData". float[0]: done x axis data of odometry sensor (meter) float[1]: done y axis data of odometry sensor (meter) float[2]: done theta rotational data of odometry sensor (radian)

Parameters:

relativeX - relative distance (in meters) in x-axis direction, positive value would go forward

relativeY - relative distance (in meters) in y-axis direction, positive value would go right

relativeThetaDegree - relative rotational angle (in degrees)

Returns:

serial number of the command

moveBody

public int moveBody(float relativeX,
                    float relativeY,
                    int relativeThetaDegree,
                    MotionControl.SpeedLevel.Body speedLevel)

Move body to a new location and turn head to a new angle relative to original pose with specified speed level.

Parameters:

relativeX - relative distance (in meters) in x-axis direction, positive value would go forward

relativeY - relative distance (in meters) in y-axis direction, positive value would go right

relativeThetaDegree - relative rotational angle (in degree)

speedLevel - speed level from L1 to L7, L1 is slowest, and L7 is fastest

Returns:

serial number of the command

moveHead

public int moveHead(float yawRadian,
                    float pitchRadian,
                    MotionControl.SpeedLevel.Head speedLevel)

Turn head with specified speed level.

Parameters:

yawRadian - the angle in radians, the range is -0.7853(left) to 0.7853(right)

pitchRadian - the angle in radians, the range is -0.2617(down) to 0.9599(up)

speedLevel - speed level from L1 to L3, L1 is slowest, and L3 is fastest

Returns:

serial number of the command

moveHead

public int moveHead(int yawDegree,
                    int pitchDegree,
                    MotionControl.SpeedLevel.Head speedLevel)

Ask robot to turn its head, use SpeedLevel.Head to control moving speed.

Parameters:

yawDegree - the angle in degrees, the range is -45(left) to 45(right)

pitchDegree - the angle in degrees, the range is -15(down) to 55(up)

speedLevel - speed level from 1 to 3, L1 is slowest, and L3 is fastest

Returns:

serial number of the command

remoteControlBody

public int remoteControlBody(MotionControl.Direction.Body direction)

Control body to move until remoteControlBody(STOP) or stopMoving() command is received.

Parameters:

direction - STOP, FORWARD, BACKWARD, TURN_LEFT, TURN_RIGHT

Returns:

serial number of the command

See Also:

MotionControl.stopMoving()

remoteControlHead

public int remoteControlHead(MotionControl.Direction.Head direction)

Control head to move until remoteControlHead(STOP) or stopMoving() command is received. The limit of pitch is -15 ~ 55 degrees, and the limit of yaw is -45 ~ 45 degrees.

Parameters:

direction - STOP, UP, DOWN, LEFT, RIGHT

Returns:

serial number of the command

See Also:

MotionControl.stopMoving()

stopMoving

public int stopMoving()

Stop all robot's movement, including neck and body.

Returns:

serial number of the command