Ejemplo n.º 1
0
  /**
   * Asks the robot for its position
   *
   * @return The position of the robot
   */
  public Point3Dim getRobotPos() {

    // Request calibration point
    String t = new String("REQ_CAL");
    serialCom.writeString(t);

    // Wait for response from robot, time out if no response
    if (!waitForResponse()) {
      return null;
    }

    String stringData = new String(inData);

    /* Is it calibration value? */
    if (stringData.startsWith("CAL")) {
      String[] data = stringData.split(";");
      Double d1 = new Double(data[1]);
      Double d2 = new Double(data[2]);
      Double d3 = new Double(data[3]);

      Point3Dim point = new Point3Dim(d1, d2, d3);
      inData = null; // reset indata after having read it
      System.out.println("Read robotvalue: " + point.toString());
      return point;
    } else return null;
  }
Ejemplo n.º 2
0
 /**
  * Commands the robot to go to a position and read a value.
  *
  * @param point The position to go to.
  * @param zNormal
  * @param yNormal
  * @param xNormal
  */
 public void robotGoTo(Point3Dim point, double angle) {
   String t = new String("GOTO_POS;" + point.x + ";" + point.y + ";" + point.z + ";" + angle);
   serialCom.writeString(t);
 }