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	getAvoidanceStatus() Return on/off status of the obstacle-avoidance.
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	setAvoidanceStatus(boolean enable) Turn on/off the obstacle-avoidance
int	stopMoving() Stop robot's movement in motion subclass, including neck and body.

Methods inherited from class java.lang.Object

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

Method Detail

getAvoidanceStatus

public int getAvoidanceStatus()

Return on/off status of the obstacle-avoidance. Result return by onResult callback, result bundle will have a String key is "RESULT", if obstacle-avoidance is enable result string will be true.

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, allowed value is -32.768 to 32.767

relativeY - relative distance (in meters) in y-axis direction, positive value would go right, allowed value is -32.768 to 32.767

relativeThetaRadian - relative rotational angle (in radian), allowed value is -57.18 to 57.18

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, allowed value is -32.768 to 32.767

relativeY - relative distance (in meters) in y-axis direction, positive value would go right, allowed value is -32.768 to 32.767

relativeThetaRadian - relative rotational angle (in radians), value is -57.18 to 57.18

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, allowed value is -32.768 to 32.767

relativeY - relative distance (in meters) in y-axis direction, positive value would go right, allowed value is -32.768 to 32.767

relativeThetaDegree - relative rotational angle (in degrees), allowed value is -3277 to 3276

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, allowed value is -32.768 to 32.767

relativeY - relative distance (in meters) in y-axis direction, positive value would go right, allowed value is -32.768 to 32.767

relativeThetaDegree - relative rotational angle (in degree), allowed value is -3277 to 32776

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)
In Zenbo junior is not effect

pitchRadian - the angle in radians, the range is -0.2617(down) to 0.9599(up),
In Zenbo junior the range is -0.17453292(down) to 0.87266463(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) *
In Zenbo junior is not effect

pitchDegree - the angle in degrees, the range is -15(down) to 55(up)
In Zenbo junior the range is -10(down) to 50(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()

setAvoidanceStatus

public int setAvoidanceStatus(boolean enable)

Turn on/off the obstacle-avoidance

Parameters:

enable - true to enable obstacle-avoidance or false to disable obstacle-avoidance

Returns:

Serial number of the command.

stopMoving

public int stopMoving()

Stop robot's movement in motion subclass, including neck and body. If you want to stop utility subclass, please use cancelCommand.

Returns:

serial number of the command