khepera
Class TestConnection

java.lang.Object
  |
  +--khepera.KheperaConnection
        |
        +--khepera.TestConnection

public class TestConnection

extends KheperaConnection

This class only exists for test purposes. It will simulate a Khepera by making the motors react to commands sending data back trough the motion sensors (ie. the controller can see how the Khepera think it moves). It will also use a sin/cos function to simulate dummy sensor input. The current state of the simulated Khepera is presented in the connection window (which will close the connection if closed):



Note
Currently no extension turrets are supported.

Version:

0.8

Author:

Pär Spjuth

Constructor Summary

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

Method Summary

void	close() Closes the connection and the status window.
void	open(java.lang.String robotName) Opens the connection and displays the status window.
java.lang.String	send(java.lang.String command) Parses the command and sends back useful simulated responses.

Methods inherited from class java.lang.Object

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

Constructor Detail

TestConnection

public TestConnection()

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

Method Detail

open

public void open(java.lang.String robotName)
          throws KheperaException

Opens the connection and displays the status window.

Overrides:

open in class KheperaConnection

Parameters:

robotName - Name of your simulated robot.

Throws:

KheperaException - Never thrown since the Khepera is only simulated.

close

public void close()
           throws KheperaException

Closes the connection and the status window. The connection can be reopened using open(String)

Overrides:

close in class KheperaConnection

Throws:

KheperaException - Never thrown since the Khepera is only simulated.

send

public java.lang.String send(java.lang.String command)
                      throws KheperaException

Parses the command and sends back useful simulated responses.

Overrides:

send in class KheperaConnection

Parameters:

command - Robot control command. Not all of the Khepera commands are supported.

Throws:

KheperaException - If an invalid command is sent or the command is not supported.