khepera
Class LEDController

java.lang.Object
  |
  +--khepera.LEDController

All Implemented Interfaces:

KheperaConstants

public class LEDController

extends java.lang.Object

implements KheperaConstants

This class provides simple methods to flash the khepera base LEDs in a preset pattern. This is useful to visualize when the robot is in a specific mode, following a specific behaviour etc.

Note
Since every time a LED status have to be changed a command is issued to the robot. This puts a load on the communications link. If you are having trouble getting as many readings as you would like, this LED blinking controller is probably the fist feature to remove.

Version:

1.3

Author:

Pär Spjuth

Field Summary

static int[]	BLINK_BOTH Predefined blinking pattern making both the LEDs blink simultaneously.
static int[]	DOUBLE_FLASH Predefined blinking pattern flashing both leds twice one at a time before repeating the pattern.
static int[]	POLICE Predefined blinking pattern making the LEDs blink somewhat like the lights on an old police car.

Fields inherited from interface khepera.KheperaConstants

BL10, BR10, FL10, FL45, FL90, FLED, FR10, FR45, FR90, HEADING, LLED, LOWERED, OFF, ON, RAISED, RDIAMETER, RRADIUS, TOGGLE, UNCHANGED, XPOS, YPOS

Constructor Summary

LEDController(Khepera robot)
Creates a new controller assigned to the specified robot.

Method Summary

void	start(int[] pattern) Starts a LED blinking pattern.
void	stop() Stops the current blinking pattern and turns off the LEDs.

Methods inherited from class java.lang.Object

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

Field Detail

BLINK_BOTH

public static final int[] BLINK_BOTH

Predefined blinking pattern making both the LEDs blink simultaneously.

DOUBLE_FLASH

public static final int[] DOUBLE_FLASH

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

POLICE

public static final int[] POLICE

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

Constructor Detail

LEDController

public LEDController(Khepera robot)

Creates a new controller assigned to the specified robot.

Parameters:

robot - The robot to be affected by the controller commands.

Method Detail

start

public void start(int[] pattern)

Starts a LED blinking pattern. The pattern is made up of triplets in the double array sent as parameter. The triplets has the following property:

 	(ledNr,status,delay)
 

Where ledNr if the number of the LED to be affected, status the new status of the LED and delay the number of milliseconds to pause before continuing to the next triplet. The pattern is looped infinitely.

Example:

 	double BLINK_FRONTAL[]={FLED,ON,250,FLED,OFF,250};
 

This pattern will first turn on the frontal led and wait 250 ms. It will then turn it off and wait another 250 ms before starting the pattern over again.

stop

public void stop()

Stops the current blinking pattern and turns off the LEDs.