com.ridgesoft.robotics.behaviors
Class AvoidBehavior

java.lang.Object
  com.ridgesoft.robotics.behaviors.AbstractBehavior2
      com.ridgesoft.robotics.behaviors.AvoidBehavior

All Implemented Interfaces:

Behavior, Behavior2

public class AvoidBehavior
extends AbstractBehavior2

Implements a behavior that will enable a robot with left and right range sensors to avoid obstacles when the behavior is enabled.

Sharp infrared range sensors, such as the popular GP2D12, are a good choice of sensor for use with this class.

See Also:

BehaviorArbiter, SharpGP2D12

Field Summary

Fields inherited from class com.ridgesoft.robotics.behaviors.AbstractBehavior2

mEnabled, mIsActive, mListener

Constructor Summary

AvoidBehavior(Localizer localizer, Navigator navigator, AnalogInput leftRange, AnalogInput rightRange, int threshold, float turnAmount, int holdTime, boolean enabled)
Constructs an AvoidBehavior object.

Method Summary

boolean

poll() This method is invoked at regular intervals to determine if the behavior desires to control the robot.

Methods inherited from class com.ridgesoft.robotics.behaviors.AbstractBehavior2

setActive, setEnabled, setListener

Methods inherited from class java.lang.Object

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

Constructor Detail

AvoidBehavior

public AvoidBehavior(Localizer localizer,
                     Navigator navigator,
                     AnalogInput leftRange,
                     AnalogInput rightRange,
                     int threshold,
                     float turnAmount,
                     int holdTime,
                     boolean enabled)

Constructs an AvoidBehavior object.

Parameters:

localizer - the robot's localizer

navigator - the robot's navigator

leftRange - the analog input for the left range sensor

rightRange - the analog input for the right range sensor

threshold - the range sensor threshold value for object detection. A sensor reading above this value triggers this behavior.

turnAmount - the amount to turn, in radians, when an obstacle is in range

holdTime - the time, in milliseconds, to head away from the object

enabled - initial enabled state of the behavior

Method Detail

poll

public boolean poll()

This method is invoked at regular intervals to determine if the behavior desires to control the robot.

If active, this method will steer the robot to avoid obstacles.

Specified by:

poll in interface Behavior

Specified by:

poll in class AbstractBehavior2

Returns:

true if the behavior wants control of the robot, otherwise false