org.MARS.robot.locomotion.DifferentialSteering

Package	org.MARS.robot.locomotion
Class	public class DifferentialSteering
Inheritance	DifferentialSteering AbstractElectronicDevice
Implements	IElectronicDevice, ILocomotion

The basic locomotion used on almost all small robots. It consists of two motors with the wheels of the same size aligned along the same axis.

The wheel system must have the following properties:

it must have exactly 2 wheels
both wheels must be on the same axis (position.x must be the same)

The IO Port configuration is as follows:

high 0 and low 1 to make left motor go forward
low 0 and high 1 to make left motor go backwards
high 2 and low 3 to make right motor go forward
low 2 and high 3 to make right motor go backwards

See also

AbstractElectronicDevice
ILocomotion
IElectronicDevice

Public Properties

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	Property		Defined by
		numberOfPorts : Number Get the number of IO ports in the device.	AbstractElectronicDevice
		robot : Robot [write-only] The robot to be moved by the locomotion	DifferentialSteering
		wheels : Array	DifferentialSteering

Protected Properties

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	Property		Defined by
		_ports : Array	AbstractElectronicDevice

Public Methods

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	Method		Defined by
		DifferentialSteering(wheelsArray:Array) Creates a Differential Steering locomotion system with the wheels provided.	DifferentialSteering
		getPort(portNumber:Number):IOPort Get a certain IO port by its number	AbstractElectronicDevice
		step():void A function that is called on every step of the physics engine.	DifferentialSteering

Property detail

robot

property

robot:Robot [write-only]

The robot to be moved by the locomotion

Implementation
public function set robot(value:Robot):void

wheels

property

wheels:Array  [read-write]Implementation
    public function get wheels():Array
    public function set wheels(value:Array):void

Constructor detail

DifferentialSteering

()

constructor

public function DifferentialSteering(wheelsArray:Array)

Creates a Differential Steering locomotion system with the wheels provided. Use the LocomotionUtil for easier definition of the wheel system.

Parameters

wheelsArray:Array — - array containing the two-wheel system

Throws

— Error whenever the wheel system is not as required

See also

LocomotionUtil

Method detail

step

()

method

public function step():void

A function that is called on every step of the physics engine. It updates the physical state of the robot based on the state of the wheels, which is determined by the values of the input ports.