com.asus.robotframework.API

Class LineFollower

java.lang.Object

com.asus.robotframework.API.LineFollower

public class LineFollower
extends java.lang.Object

Method Summary

Modifier and Type	Method and Description
int	calibrate() Run calibration for line sensor
int	calibrate(boolean reset) Reset the data of calibration to default RGB values
int	demo() Start line following with default configuration patterns Default pattern config as bellow: G-R-G: stop, B-R-B: turn left, B-G-B: turn right, G-B-G: turn around, R-G-R: go straight, R-B-R: speed up, G-R-B: slow down, B-R-G: normal speed,
int	followLine() Start line following by using default configuration Continue reterning onResult Callback of "color_Result" and "Pattern_Result" if during line following with the bundle key of "Color_Result" and "Pattern_Result".
int	followLine(MotionControl.SpeedLevel.LineFollower speedLevel) Start line following by using default configuration with different speed levels Continue reterning onResult Callback of "color_Result" and "Pattern_Result" if during line following with the bundle key "Color_Result" and "Pattern_Result".
int	followLine(java.lang.String jsonString) Start line following with customized configuration.
int	getColor() Return RGB values in order to get which color it is (Black?
int	setBehavior(int serial, LineFollowerConfig.Behavior behavior, java.lang.Object... args) Set behavior immediately during line following
int	updateConfig(int serial, java.lang.String jsonString) Update configuration during line following

Methods inherited from class java.lang.Object

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

Method Detail

calibrate

public int calibrate()

Run calibration for line sensor

Returns:

serial number of the command

calibrate

public int calibrate(boolean reset)

Reset the data of calibration to default RGB values

Parameters:

reset - true reset to default RGB value

Returns:

serial number of the command

demo

public int demo()

Start line following with default configuration patterns
Default pattern config as bellow: G-R-G: stop, B-R-B: turn left, B-G-B: turn right, G-B-G: turn around, R-G-R: go straight, R-B-R: speed up, G-R-B: slow down, B-R-G: normal speed,

Returns:

Serial number of the command.

followLine

public int followLine()

Start line following by using default configuration Continue reterning onResult Callback of "color_Result" and "Pattern_Result" if during line following with the bundle key of "Color_Result" and "Pattern_Result".

Returns:

serial number of the command

followLine

public int followLine(MotionControl.SpeedLevel.LineFollower speedLevel)

Start line following by using default configuration with different speed levels Continue reterning onResult Callback of "color_Result" and "Pattern_Result" if during line following with the bundle key "Color_Result" and "Pattern_Result".

Parameters:

speedLevel - from L1 to L3 (L1 is the slowest whereas L3 is the fastest)

Returns:

serial number of the command

See Also:

MotionControl.SpeedLevel.LineFollower

followLine

public int followLine(java.lang.String jsonString)

Start line following with customized configuration. Continue reterning onResult Callback of "color_Result" and "Pattern_Result" during line following

Parameters:

jsonString - can be generated with LineFollowerConfig to render JSON strings.

Returns:

serial number of the command

See Also:

LineFollowerConfig

getColor

public int getColor()

Return RGB values in order to get which color it is (Black?White?Red?Green?Blue?Yellow) RGB values will be returned as JSON string of onResult() with the bundle key of "Color_Result".

Returns:

serial number of the command

setBehavior

public int setBehavior(int serial,
                       LineFollowerConfig.Behavior behavior,
                       java.lang.Object... args)

Set behavior immediately during line following

Parameters:

serial - The serial number during line following

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:

serial number of the command

See Also:

LineFollowerConfig.Behavior

updateConfig

public int updateConfig(int serial,
                        java.lang.String jsonString)

Update configuration during line following

Parameters:

serial - The serial number during line following

jsonString - can be generated with LineFollowerConfig to render JSON strings.

Returns:

serial number of the command

See Also:

LineFollowerConfig