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| 1 | package com.sherolchen.msp; | |
| 2 | ||
| 3 | import lejos.nxt.NXTRegulatedMotor; | |
| 4 | ||
| 5 | /** | |
| 6 | * A simple interface to a KTong's ARM!!! MWAHAHAHA | |
| 7 | * But we can make it better...we have the technology | |
| 8 | */ | |
| 9 | ||
| 10 | public class NXTArmAndGripper {
| |
| 11 | ||
| 12 | // Member variables used to keep track of various motors | |
| 13 | private NXTRegulatedMotor turningMotor; | |
| 14 | private boolean turnerReversed = false; | |
| 15 | private NXTRegulatedMotor liftingMotor; | |
| 16 | private boolean lifterReversed = false; | |
| 17 | private NXTRegulatedMotor grippingMotor; | |
| 18 | ||
| 19 | // Constructor which assumes an orientation to the various motors | |
| 20 | public NXTArmAndGripper(NXTRegulatedMotor turner, | |
| 21 | NXTRegulatedMotor lifter, | |
| 22 | NXTRegulatedMotor gripper) {
| |
| 23 | turningMotor = turner; | |
| 24 | liftingMotor = turner; | |
| 25 | grippingMotor = gripper; | |
| 26 | // Assumes gripper starts off in closed position. | |
| 27 | grippingMotor.resetTachoCount(); | |
| 28 | } | |
| 29 | ||
| 30 | // Constructor which does not assume an orientation to the various motors | |
| 31 | public NXTArmAndGripper(NXTRegulatedMotor turner, boolean turnReverse, | |
| 32 | NXTRegulatedMotor lifter, boolean liftReverse, | |
| 33 | NXTRegulatedMotor gripper, boolean gripReverse) {
| |
| 34 | turningMotor = turner; | |
| 35 | turnerReversed = turnReverse; | |
| 36 | liftingMotor = lifter; | |
| 37 | lifterReversed = liftReverse; | |
| 38 | grippingMotor = gripper; | |
| 39 | // Assumes gripper starts off in closed position | |
| 40 | grippingMotor.resetTachoCount(); | |
| 41 | } | |
| 42 | ||
| 43 | // Various methods used to control motors (function is obvious form name) | |
| 44 | // The methods are merely wrappers around functions provided by the motor | |
| 45 | // control functions in leJOS | |
| 46 | ||
| 47 | public void turnLeft() {
| |
| 48 | if (turnerReversed) {
| |
| 49 | turningMotor.backward(); | |
| 50 | } else {
| |
| 51 | turningMotor.forward(); | |
| 52 | } | |
| 53 | } | |
| 54 | ||
| 55 | public void turnRight() {
| |
| 56 | if (turnerReversed) {
| |
| 57 | turningMotor.forward(); | |
| 58 | } else {
| |
| 59 | turningMotor.backward(); | |
| 60 | } | |
| 61 | } | |
| 62 | ||
| 63 | public void stopTurning() {
| |
| 64 | turningMotor.stop(); | |
| 65 | } | |
| 66 | ||
| 67 | public void liftUp() {
| |
| 68 | if (lifterReversed) {
| |
| 69 | liftingMotor.forward(); | |
| 70 | } else {
| |
| 71 | liftingMotor.backward(); | |
| 72 | } | |
| 73 | } | |
| 74 | ||
| 75 | public void liftDown() {
| |
| 76 | if (lifterReversed) {
| |
| 77 | liftingMotor.forward(); | |
| 78 | } else {
| |
| 79 | liftingMotor.backward(); | |
| 80 | } | |
| 81 | } | |
| 82 | ||
| 83 | public void stopLifting() {
| |
| 84 | liftingMotor.stop(); | |
| 85 | } | |
| 86 | ||
| 87 | public void openGripper() {
| |
| 88 | // TODO: Still need to calibrate | |
| 89 | grippingMotor.rotateTo(0, true); | |
| 90 | } | |
| 91 | ||
| 92 | public void closeGripper() {
| |
| 93 | // TODO: Still need to calibrate | |
| 94 | grippingMotor.rotateTo(4, true); | |
| 95 | } | |
| 96 | } |
