A B C D F G H K L M O P R S T U X Y

A

addPainter(MapPainter) - Method in class khepera.MapViewer

B

BL10 - Static variable in interface khepera.KheperaConstants

Index to the back IR sensor at 10 degrees to the left.

BLINK_BOTH - Static variable in class khepera.LEDController

Predefined blinking pattern making both the LEDs blink simultaneously.

BR10 - Static variable in interface khepera.KheperaConstants

Index to the back IR sensor at 10 degrees to the right.

C

cameraPresent() - Method in class khepera.Khepera

Checks if a linear camera turret is mounted on the robot.

close() - Method in class khepera.KheperaConnection

Should be implemented to close the connection.

close() - Method in class khepera.RoboWorldConnection

Closes the connection to the robot.

close() - Method in class khepera.TestConnection

Closes the connection and the status window.

close() - Method in class khepera.SerialConnection

Disconnects the robot releasing the serial port.

closeGripper() - Method in class khepera.Khepera

Tries to close the gripper.

connect() - Method in class khepera.Khepera

Initializes the communication with the robot and must be called before all other commands.

D

disconnect() - Method in class khepera.Khepera

It is recommended to always call this method at the end of a controller program to end the communication with the robot and clean up.

DOUBLE_FLASH - Static variable in class khepera.LEDController

Predefined blinking pattern flashing both leds twice one at a time before repeating the pattern.

draw(SimpleCanvas) - Method in class khepera.LocationPainter

draw(SimpleCanvas) - Method in class khepera.TrailMaker

draw(SimpleCanvas) - Method in interface khepera.MapPainter

draw(SimpleCanvas) - Method in class khepera.GridPainter

F

FL10 - Static variable in interface khepera.KheperaConstants

Index to the frontal IR sensor at 10 degrees to the left.

FL45 - Static variable in interface khepera.KheperaConstants

Index to the frontal IR sensor at 45 degrees to the left.

FL90 - Static variable in interface khepera.KheperaConstants

Index to the frontal IR sensor at 90 degrees to the left.

FLED - Static variable in interface khepera.KheperaConstants

Number of the frontal LED.

FollowWallController - class khepera.FollowWallController.

FollowWallController(Khepera, SensorTracker) - Constructor for class khepera.FollowWallController

FR10 - Static variable in interface khepera.KheperaConstants

Index to the frontal IR sensor at 10 degrees to the right.

FR45 - Static variable in interface khepera.KheperaConstants

Index to the frontal IR sensor at 45 degrees to the right.

FR90 - Static variable in interface khepera.KheperaConstants

Index to the frontal IR sensor at 90 degrees to the right.

G

getArmPosition() - Method in class khepera.Khepera

Checks the current position of the gripper arm.

getBIOSVersion() - Method in class khepera.Khepera

Returns the BIOS version of the robot.

getCameraImage() - Method in class khepera.Khepera

Downloads the pixels of the linear camera (assumed to be) mounted on the top of the robot.

getCameraRevision() - Method in class khepera.Khepera

Checks the revision of the camera software.

getCameraVersion() - Method in class khepera.Khepera

Checks the version of the camera software.

getGripperRevision() - Method in class khepera.Khepera

Checks the revision of the gripper software.

getGripperVersion() - Method in class khepera.Khepera

Checks the version of the gripper software.

getLightReadings() - Method in class khepera.Khepera

Retreives the light sensor values by downloading the from the robot.

getLocation() - Method in class khepera.Khepera

Returns the current local positon and heading of the robot.

getLocation() - Method in class khepera.LocationTracker

getName() - Method in class khepera.Khepera

Simple method to ge the name of the robot.

getProtocolVersion() - Method in class khepera.Khepera

Returns the protocol version of the robot.

getProxyReadings() - Method in class khepera.Khepera

Retreives the proximity sensor values by downloading them from the robot.

getReadings() - Method in class khepera.SensorTracker

GridPainter - class khepera.GridPainter.

GridPainter(int, int) - Constructor for class khepera.GridPainter

gripperIsOpen() - Method in class khepera.Khepera

Checks if the gripper is currently open

gripperPresent() - Method in class khepera.Khepera

Checks if the robot has a gripper turret mounted.

H

HEADING - Static variable in interface khepera.KheperaConstants

Index to the local robot heading.

K

khepera - package khepera

This is an unofficial Java-package to control a simple Khepera robot-configuration either using the RoboWorld-simulator (developed by Henrik Lernmark and Tim Portnoff for the Department of Computer Sciende at Lund University) or by communicating directly with the robot using a serial connection.

Khepera - class khepera.Khepera.

Provides a simple representation of the Khepera-robot making it easy to read the sensors and control the behaviour of the motors.

Khepera(String) - Constructor for class khepera.Khepera

Creates a new Khepera robot representation with the given name.

Khepera(String, KheperaConnection) - Constructor for class khepera.Khepera

Creates a new Khepera robot representation with the given name and. connection instance.
Example:
Khepera robot=new Khepera("Charlie",new SerialConnection("/dev/modem",19200));

KheperaConnection - class khepera.KheperaConnection.

This abstract class is the foundation of the interface between a Khepera, in any form, and the Khepera class.

KheperaConnection() - Constructor for class khepera.KheperaConnection

KheperaConstants - interface khepera.KheperaConstants.

Contains all constants used with arrays returned from the Khepera class and also a couple of status constants.

KheperaException - exception khepera.KheperaException.

This exception is generated everytime a problem with the interface to the Khepera robot occurs.

KheperaException(String) - Constructor for class khepera.KheperaException

Creates an exception with the provided cause in the message field.

L

LEDController - class khepera.LEDController.

This class provides simple methods to flash the khepera base LEDs in a preset pattern.

LEDController(Khepera) - Constructor for class khepera.LEDController

Creates a new controller assigned to the specified robot.

LIGHT - Static variable in class khepera.SensorTracker

LLED - Static variable in interface khepera.KheperaConstants

Number of the lateral LED.

LocationPainter - class khepera.LocationPainter.

LocationPainter(LocationTracker) - Constructor for class khepera.LocationPainter

LocationTracker - class khepera.LocationTracker.

LocationTracker(Khepera, int) - Constructor for class khepera.LocationTracker

LOWERED - Static variable in interface khepera.KheperaConstants

Constant putting the gripper in position to pick something up.

M

MapPainter - interface khepera.MapPainter.

MapViewer - class khepera.MapViewer.

This is the foundation (this class is far from done) of a map making system for the Khepera.

MapViewer(int) - Constructor for class khepera.MapViewer

O

objectInGripper() - Method in class khepera.Khepera

Checks the light-beam between the grippers.

OFF - Static variable in interface khepera.KheperaConstants

Represents the off status of a LED.

ON - Static variable in interface khepera.KheperaConstants

Represents the on status of a LED.

open(String) - Method in class khepera.KheperaConnection

Should be implemented to open the connection.

open(String) - Method in class khepera.RoboWorldConnection

Opens the connection specified in the constructor call.

open(String) - Method in class khepera.TestConnection

Opens the connection and displays the status window.

open(String) - Method in class khepera.SerialConnection

Opens a connection to the serial port as specified by the constructor call.

openGripper() - Method in class khepera.Khepera

Tries to open the gripper.

P

POLICE - Static variable in class khepera.LEDController

Predefined blinking pattern making the LEDs blink somewhat like the lights on an old police car.

PROXY - Static variable in class khepera.SensorTracker

R

RAISED - Static variable in interface khepera.KheperaConstants

Constant to raise the arm in front of the robot.

RDIAMETER - Static variable in interface khepera.KheperaConstants

The diameter of the robot in millimeters.

reset() - Method in class khepera.Khepera

Puts the robot in an initial stopped position where both wheels are stopped and with both LEDs off.

RoboWorldConnection - class khepera.RoboWorldConnection.

Provides a client connection to the RobotWorld simulator controlling the robot using the Khepera class.

RoboWorldConnection() - Constructor for class khepera.RoboWorldConnection

Creates a connection to a simulator running on the current host (localhost).

RoboWorldConnection(String) - Constructor for class khepera.RoboWorldConnection

Creates a connection to the simulator on the specified host.

RRADIUS - Static variable in interface khepera.KheperaConstants

The radius of the robot in millimeters.

S

send(String) - Method in class khepera.KheperaConnection

Should be implemented to send the command (which do not include line-feed) and wait for the robot response returning it without the trailing line-feed.

send(String) - Method in class khepera.RoboWorldConnection

Sends a robot command to the simulator returning the robot response.

send(String) - Method in class khepera.TestConnection

Parses the command and sends back useful simulated responses.

send(String) - Method in class khepera.SerialConnection

Sends the given command and waits for the robot response, which is then returned.

SensorTracker - class khepera.SensorTracker.

SensorTracker(Khepera, int, int) - Constructor for class khepera.SensorTracker

SensorViewer - class khepera.SensorViewer.

This is a simple class to see the sensor readings generated from the robot.

SensorViewer(SensorTracker) - Constructor for class khepera.SensorViewer

SerialConnection - class khepera.SerialConnection.

Allows communication with the Khepera robot via the serial-port using the via the KheperaConnection class.

SerialConnection() - Constructor for class khepera.SerialConnection

Creates a connection to the Khepera via the serial port using the default port name on the lab computers at Lunds Department of Computer Sience ie.

SerialConnection(int) - Constructor for class khepera.SerialConnection

Creates a connection to the Khepera via the serial port using the default port name on the lab computers at Lunds Department of Computer Sience ie.

SerialConnection(String) - Constructor for class khepera.SerialConnection

Creates a connection to the Khepera via the serial port using the default speed ie. 19200 baud.

SerialConnection(String, int) - Constructor for class khepera.SerialConnection

Creates a connection to the Khepera via the serial port.

setArmPosition(double) - Method in class khepera.Khepera

Moves the arm to the corresonding position.

setLED(int, int) - Method in class khepera.Khepera

Sets the status of a LED.

setLocation(double, double, double) - Method in class khepera.Khepera

Sets the local position and heading of the robot.

setSpeed(int, int) - Method in class khepera.Khepera

Sets the speed at which the robot will move when given a motion command.

start() - Method in class khepera.FollowWallController

start(int[]) - Method in class khepera.LEDController

Starts a LED blinking pattern.

stop() - Method in class khepera.FollowWallController

stop() - Method in class khepera.Khepera

Stops the robot weels.

stop() - Method in class khepera.LEDController

Stops the current blinking pattern and turns off the LEDs.

T

TestConnection - class khepera.TestConnection.

This class only exists for test purposes.

TestConnection() - Constructor for class khepera.TestConnection

Creates a new dummy Khepera connection used for testing software functionality.

TOGGLE - Static variable in interface khepera.KheperaConstants

The value to toggle a LEDs status.

TrailMaker - class khepera.TrailMaker.

TrailMaker(LocationTracker, int) - Constructor for class khepera.TrailMaker

U

UNCHANGED - Static variable in interface khepera.KheperaConstants

Indicates that the value should be unchanged after the call.

X

XPOS - Static variable in interface khepera.KheperaConstants

Index to the local robot x-position.

Y

YPOS - Static variable in interface khepera.KheperaConstants

Index to the local robot y-position.

A B C D F G H K L M O P R S T U X Y