ch.aplu.ev3

Class NxtTurtleRobot

java.lang.Object

ch.aplu.ev3.LegoRobot

ch.aplu.ev3.NxtTurtleRobot

public class NxtTurtleRobot
extends LegoRobot

Implementation of the basic Logo turtle movements.

Nested Class Summary

Nested classes/interfaces inherited from class ch.aplu.ev3.LegoRobot

LegoRobot.ClosingMode

Constructor Summary

Constructors

Constructor and Description
NxtTurtleRobot() Same as TurtleLegoRobot(ipAddress), but ask for the IP address
NxtTurtleRobot(java.lang.String ipAddress) Same as TurtleLegoRobot(ipAddress, true)
NxtTurtleRobot(java.lang.String ipAddress, boolean showPane) Creates a turtle robot instance using a EV3 brick with given IP address.

Method Summary

Methods

Modifier and Type	Method and Description
NxtTurtleRobot	backward(int steps) Moves the turtle backward the given number of steps.
void	exit() Closes the communication and terminates the program.
NxtTurtleRobot	forward(int steps) Moves the turtle forward the given number of steps.
NxtGear	getGear() Returns the gear used as component of the turtle.
int	getTurtleSpeed() Returns the current turtle speed.
NxtTurtleRobot	left(int angle) Turns the turtle to the left for the given angle.
NxtTurtleRobot	right(int angle) Turns the turtle to the right for the given angle.
NxtTurtleRobot	setTurtleSpeed(int speed) Sets the turtle speed to the given value.

Methods inherited from class ch.aplu.ev3.LegoRobot

addButtonListener, addConnectionListener, addPart, clearDisplay, connect, connect, connect, disconnect, drawString, drawStringAt, getAbout, getBatteryLevel, getBrickGateVersion, getDataOutputStream, getDebugLevel, getHitButtonID, getInputStream, getIPAddress, getIPAddresses, getProperties, getVersion, isAutonomous, isButtonHit, isConnected, isDownHit, isEnterHit, isEscapeHit, isLeftHit, isRightHit, isRunning, isUpHit, playTone, reset, setLED, setVolume

Methods inherited from class java.lang.Object

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

Constructor Detail

NxtTurtleRobot

public NxtTurtleRobot(java.lang.String ipAddress,
              boolean showPane)

Creates a turtle robot instance using a EV3 brick with given IP address. A connection trial is engaged while an information box is shown. If the connection fails, the calling thread will be put in a wait state and the program hangs. The user can then terminate the application by closing the information pane. established at this time.

If showConsole = true, the turtle commands are displayed in a console window. If ipAddress = null, a input dialog is displayed where the IP address can be entered.

Parameters:

ipAddress - the IP address, e.g. 10.0.1.1

showPane - if true, an information pane is showed, where the turtle commands are listed

NxtTurtleRobot

public NxtTurtleRobot(java.lang.String ipAddress)

Same as TurtleLegoRobot(ipAddress, true)

Parameters:

ipAddress - the IP address, e.g. 10.0.1.1

NxtTurtleRobot

public NxtTurtleRobot()

Same as TurtleLegoRobot(ipAddress), but ask for the IP address

Method Detail

getGear

public NxtGear getGear()

Returns the gear used as component of the turtle.

Returns:

the reference of the NxtGear instance

setTurtleSpeed

public NxtTurtleRobot setTurtleSpeed(int speed)

Sets the turtle speed to the given value. The TurtleRotationSpeed remains unchanged. The speed will be changed to the new value at the next movement call only.

Parameters:

speed - 0..100

Returns:

the object reference to allow method chaining

getTurtleSpeed

public int getTurtleSpeed()

Returns the current turtle speed.

Returns:

speed 0..100

forward

public NxtTurtleRobot forward(int steps)

Moves the turtle forward the given number of steps. The methods blocks until the turtle is at the final position. The actual distance depends on the "TurtleStepFactor" as defined in the nxtlib.properties file. The turtle speed corresponds to the "TurtleSpeed" as defined in the nxtlib.properties file.

Parameters:

steps - the number of steps to go.

Returns:

the object reference to allow method chaining

backward

public NxtTurtleRobot backward(int steps)

Moves the turtle backward the given number of steps. The methods blocks until the turtle is at the final position. The actual distance depends on the "TurtleStepFactor" as defined in the nxtlib.properties file. The turtle speed corresponds to the "TurtleSpeed" as defined in the nxtlib.properties file.

Parameters:

steps - the number of steps to go.

Returns:

the object reference to allow method chaining

left

public NxtTurtleRobot left(int angle)

Turns the turtle to the left for the given angle. The methods blocks until the turtle is at the final position. Due to the construction of the NXT the accuracy is limited. It depends on the "TurtleRotationFactor" and the "TurtleRotationSpeed" as defined in the nxtlib.properties file.

Parameters:

angle - the angle in degree to rotate.

Returns:

the object reference to allow method chaining

right

public NxtTurtleRobot right(int angle)

Turns the turtle to the right for the given angle. The methods blocks until the turtle is at the final position. Due to the construction of the NXT the accuracy is limited. It depends on the "TurtleRotationFactor" and the "TurtleRotationSpeed" as defined in the nxtlib.properties file.

Parameters:

angle - the angle in degree to rotate.

Returns:

the object reference to allow method chaining

exit

public void exit()

Closes the communication and terminates the program.

Overrides:

exit in class LegoRobot