/*
* If vx=0 and vy=0, and omega=100 the robot will rotate
* counterclockwise at roughly its maximum speed. If vx=0 and
* vy=100 and omega=0, the robot will go "north" at roughly
* its maximum speed.
*/
public void vectorDrive(int vx, int vy, int omega) {
int bb = 72 * omega;
int bx = 50 * vx;
int by = 87 * vy;
servoDirect.setPosition(scaleToServoSpeed(((-100 * vx) + bb) / 100), 0);
servoDirect.setPosition(scaleToServoSpeed(((bx - by) + bb) / 100), 1);
servoDirect.setPosition(scaleToServoSpeed(((bx + by) + bb) / 100), 2);
}
/**
* Creates a new JobotBaseController object.
*
* @param factory TODO PARAM: DOCUMENT ME!
*/
public JobotBaseController(PeripheralFactory factory) {
servoDirect = factory.createMultiServoController(MultiServoController.IMPLEMENTATION_DIRECT);
servoMax = servoDirect.getMaxPosition();
servoMid = servoMax >> 1;
adc = factory.createADCReader(0, ADCReader.READ_INT);
mouse = new Agilent2051();
try {
servoDirect.start();
} catch (Exception e) {
System.out.println("Failed!");
}
}
/*
* Drive directly drives the servo's
*/
public void drive(int x, int y, int z) {
servoDirect.setPosition(scaleToServoSpeed(x), 0);
servoDirect.setPosition(scaleToServoSpeed(y), 1);
servoDirect.setPosition(scaleToServoSpeed(z), 2);
}
/**
* TODO METHOD: DOCUMENT ME!
*
* @param value TODO PARAM: param description
* @param servo TODO PARAM: param description
*/
public void setServo(int value, int servo) {
servoDirect.setPosition(value, servo);
}
