com.asus.robotframework.API

Class LineFollowerConfig

java.lang.Object

com.asus.robotframework.API.LineFollowerConfig

public class LineFollowerConfig
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	LineFollowerConfig.Behavior
static class	LineFollowerConfig.Color
static class	LineFollowerConfig.ColorPattern The combination of a color pattern is made up of 1-3 colors: Color.RED, Color.GREEN, and Color.BLUE.
static class	LineFollowerConfig.ColorRule

Constructor Summary

Constructors

Constructor and Description
LineFollowerConfig() Construct a configuration of line following with default settings inside.
LineFollowerConfig(java.lang.String configure) Construct initialization of line following configuration according to the specified JSON string.

Method Summary

Modifier and Type	Method and Description
RobotErrorCode	addRule(LineFollowerConfig.Color color, LineFollowerConfig.Behavior behavior, java.lang.Object[] args) Change the configuration of line following
RobotErrorCode	addRule(LineFollowerConfig.ColorPattern colorPattern, LineFollowerConfig.Behavior behavior, java.lang.Object[] args) Change the configuration of line following
java.lang.String	build() Returns a string that representing the configuration.
static RobotErrorCode	checkRule(LineFollowerConfig.Color color, LineFollowerConfig.Behavior behavior, java.lang.Object[] args) To check if the settings can be changed to line following configuration.
static RobotErrorCode	checkRule(LineFollowerConfig.ColorPattern colorPattern, LineFollowerConfig.Behavior behavior, java.lang.Object[] args) To check if the settings can be changed to line following configuration.
LineFollowerConfig.ColorRule	getRule(LineFollowerConfig.Color color) Return the settings of specific color.
LineFollowerConfig.ColorRule	getRule(LineFollowerConfig.ColorPattern colorPattern) Return the settings of specific color pattern.
java.util.List	getRuleList() Get the configuration list.
void	removeRule(LineFollowerConfig.Color color) Remove the settings of specific color.
void	removeRule(LineFollowerConfig.ColorPattern colorPattern) Remove the settings of specific color pattern.

Methods inherited from class java.lang.Object

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

Constructor Detail

LineFollowerConfig

public LineFollowerConfig()

Construct a configuration of line following with default settings inside.

LineFollowerConfig

public LineFollowerConfig(java.lang.String configure)
                   throws org.json.JSONException

Construct initialization of line following configuration according to the specified JSON string.

Parameters:

configure - the line following configuration to default settings.

Throws:

org.json.JSONException

Method Detail

addRule

public RobotErrorCode addRule(LineFollowerConfig.Color color,
                              LineFollowerConfig.Behavior behavior,
                              java.lang.Object[] args)

Change the configuration of line following

Parameters:

color - Color Color.BLACK can only support the settings of Behavior.SPEED_LEVEL. Can't change the settings ofColor.WHITE, Color.YELLOW and Color.UNKNOWN

behavior - The default settings of the configuration is Behavior.NOTHING. Can't change the setting of Behavior.UNKNOWN.

args - The settings of Behavior.SPEED_LEVEL and Behavior.ROTATION require third parameter SpeedLevel.LineFollower. The settings of Behavior.ROTATION require inputting rotational angle (in degree).

Returns:

Return RobotErrorCode.NO_ERROR if successfully change the settings. Otherwise, it will return a certain error code.

See Also:

MotionControl.SpeedLevel.LineFollower

addRule

public RobotErrorCode addRule(LineFollowerConfig.ColorPattern colorPattern,
                              LineFollowerConfig.Behavior behavior,
                              java.lang.Object[] args)

Change the configuration of line following

Parameters:

colorPattern - Color Pattern

behavior - The default settings of the configuration is Behavior.NOTHING. Can't change the setting of Behavior.UNKNOWN.

args - The settings of Behavior.SPEED_LEVEL and Behavior.ROTATION require third parameter SpeedLevel.LineFollower. The settings of Behavior.ROTATION requires inputting rotational angle (in degree).

Returns:

Return RobotErrorCode.NO_ERROR if successfully change the settings. Otherwise, it will return a certain error code.

See Also:

LineFollowerConfig.ColorPattern, MotionControl.SpeedLevel.LineFollower

build

public java.lang.String build()

Returns a string that representing the configuration.

Returns:

a JSON string that representing the configuration.

checkRule

public static RobotErrorCode checkRule(LineFollowerConfig.Color color,
                                       LineFollowerConfig.Behavior behavior,
                                       java.lang.Object[] args)

To check if the settings can be changed to line following configuration.

Parameters:

color - Color Color.BLACK can only support the settings of Behavior.SPEED_LEVEL. Can't change the settings of Color.WHITE, Color.YELLOW and Color.UNKNOWN

behavior - The default settings of the configuration is Behavior.NOTHING. Can't change the setting of Behavior.UNKNOWN.

args - The settings of Behavior.SPEED_LEVEL and Behavior.ROTATION require third parameter SpeedLevel.LineFollower. The settings of Behavior.ROTATION requires inputting rotational angle (in degree).

Returns:

Return RobotErrorCode.NO_ERROR if it can successfully change the settings. Otherwise, it will return a certain error code.

See Also:

MotionControl.SpeedLevel.LineFollower

checkRule

public static RobotErrorCode checkRule(LineFollowerConfig.ColorPattern colorPattern,
                                       LineFollowerConfig.Behavior behavior,
                                       java.lang.Object[] args)

To check if the settings can be changed to line following configuration.

Parameters:

colorPattern - Color Color.BLACK can only support the settings of Behavior.SPEED_LEVEL. Can't change the settings ofColor.WHITE, Color.YELLOW and Color.UNKNOWN

behavior - The default settings of the configuration is Behavior.NOTHING. Can't change the setting of Behavior.UNKNOWN.

args - The settings of Behavior.SPEED_LEVEL and Behavior.ROTATION require third parameter SpeedLevel.LineFollower. The settings of Behavior.ROTATION requires inputting rotational angle (in degree).

Returns:

Return RobotErrorCode.NO_ERROR if successfully change the settings. Otherwise, it will return a certain error code.

See Also:

LineFollowerConfig.ColorPattern, MotionControl.SpeedLevel.LineFollower

getRule

public LineFollowerConfig.ColorRule getRule(LineFollowerConfig.Color color)

Return the settings of specific color.

Parameters:

color - specific color

Returns:

Return ColorRule for specific color. Otherwise, it will return null if the color doesn't have any settings.

See Also:

LineFollowerConfig.ColorRule

getRule

public LineFollowerConfig.ColorRule getRule(LineFollowerConfig.ColorPattern colorPattern)

Return the settings of specific color pattern.

Parameters:

colorPattern - color pattern

Returns:

Return ColorRule for specific color, Otherwise, it will return null if the color pattern doesn't have any settings.

getRuleList

public java.util.List getRuleList()

Get the configuration list.

Returns:

Return a new configuration list, which is a copy of the old one

removeRule

public void removeRule(LineFollowerConfig.Color color)

Remove the settings of specific color.

Parameters:

color - specific color

removeRule

public void removeRule(LineFollowerConfig.ColorPattern colorPattern)

Remove the settings of specific color pattern.

Parameters:

colorPattern - specific color pattern