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readme.txt
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readme.txt
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* IMPORTANT NOTES:
*
* 1) WHERE FILES/FOLDERS SHOULD BE PLACED IN ORDER TO MAKE
* EVERYTHING COMPILE AND WORK CORRECTLY (on MIRTO's SD
* CARD):
* (i) MobileRobot.java in /csd2222
* (ii) RobotMission.java in /csd2222
* (iii) RobotTesting.java in /csd2222
* (iv) The following files and folders should also be placed
* in /csd2222: java-asip.jar, jssc, libs, META-INF and
* uk.
* (v) The modified version of the file JMirtoRobot.java (see
* below) should be placed in
* /csd2222/uk/ac/mdx/cs/asip
*
* Source: https://github.com/fraimondi/java-asip
*
* 2) The code in JMirtoRobot.java has been modified by Claudio S.
* De Mutiis (claudio.de_mutiis@kcl.ac.uk) in August 2015.
* Claudio S. De Mutiis added the method public void resetCount(),
* which resets both of the encoders' counts.
*
* public void resetCount() {
* e0.resetCount();
* e1.resetCount();
* }
*
* TRYING TO COMPILE THE CLASSES MobileRobot.java, RobotMission.java
* and RobotTesting.java WITH THE OLD VERSION OF JMirtoRobot.java
* WILL RESULT IN A COMPILATION ERROR !!!
*
* The modified version of JMirtoRobot.java is needed to make
* everything compile and run correctly !!
*
* ADDITIONAL CREDITS:
* - The class JMirtoRobot.java was developed by a team led by Dr
* Franco Raimondi (F.Raimondi@mdx.ac.uk) at Middlesex University
* London. When using the functionalities of the class
* JMirtoRobot.java, in several occasions, I used or slightly
* modified snippets of code taken from the file JMirtoRobot.java.
* I copied and pasted the main method for testing the class
* JMirtoRobot below.
* - In order to be able to work, the classes MobileRobot.java,
* RobotMission.java and RobotTesting.java make
* use of methods and classes developed by a team led by Dr
* Franco Raimondi at Middlesex University (see the folders lib
* and src and the files build.xml, README.md located in the
* folder java-asip-master).
* Source: https://github.com/fraimondi/java-asip
*/
/* Useful Math Functions:
* 1) Math.toDegrees(...) --> converts an angle from rad to deg
* 2) Math.toRadians(...) --> converts an angle from deg to rad
*/
* The main method for testing the class JMirtoRobot.java, was written by a team led
* by Dr Franco Raimondi (F.Raimondi@mdx.ac.uk) at Middlesex University London
*
*
* // A main method for testing
* public static void main(String[] args) {
*
* // JMirtoRobot robot = new JMirtoRobot("/dev/tty.usbserial-A903VH1D");
* JMirtoRobot robot = new JMirtoRobot("/dev/ttyAMA0");
*
*
* try {
* Thread.sleep(500);
* robot.setup();
* Thread.sleep(500);
* while (true) {
* System.out.println("IR: "+robot.getIR(0) + ","+robot.getIR(1)+",
* "+robot.getIR(2));
* System.out.println("Encoders: "+robot.getCount(0) + ","+robot.getCount(1));
* System.out.println("Bumpers: "+robot.isPressed(0) + ","+robot.isPressed(1));
* System.out.println("Setting motors to 50,50");
* robot.setMotors(100, 0);
* Thread.sleep(1500);
* System.out.println("Stopping motors");
* robot.stopMotors();
* Thread.sleep(500);
* System.out.println("Setting motors to 100,100");
* robot.setMotors(0,-250);
* Thread.sleep(1500);
* System.out.println("Stopping motors");
* robot.stopMotors();
* Thread.sleep(500);
* }
* /* System.out.println("Setting motors to 50,50");
* robot.setMotors(50, 50);
* Thread.sleep(3000);
* System.out.println("Stopping motors");
* robot.stopMotors();
* Thread.sleep(500);
* System.out.println("Setting motors to 80,-80");
* robot.setMotors(80, -80);
* Thread.sleep(3000);
* System.out.println("Stopping motors");
* robot.stopMotors();
* Thread.sleep(3000);
* System.out.println("Setting motors to -100,100");
* robot.setMotors(-100, 100);
* Thread.sleep(3000);
* System.out.println("Stopping motors");
* robot.stopMotors();
* System.out.println("All done, see you soon!");
* */
/*
* } catch (InterruptedException e) {
* e.printStackTrace();
* }
*
* }
*
*/