Robot

java.lang.Object
- robot.Robot

Direct Known Subclasses:

Calibration, Tests
```
public class Robot
extends Object
```
Implements simple API for cube manipulation on NXT2.0

See Also:
NxtOperation, NxtCommand

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`protected static class`	`Robot.Arm` Represents the motor responsible for holding and flipping the cube
`protected static class`	`Robot.ColorDetector` Represents the color detector unit, both motor and sensor
`protected static class`	`Robot.ProximitySensor` This class represents the proximity sensor unit
`protected static class`	`Robot.Tray` Represents the motor which controls the cube tray

Field Summary

Fields
Modifier and Type	Field and Description
`private static int`	`ARM_FLIP_DELAY_MS`
`private static int`	`ARM_MOTOR_DEFAULT_SPEED`
`private static int`	`ARM_POSITION_HOLD`
`private static int`	`ARM_POSITION_HOLD_EXTRA`
`private static int`	`ARM_POSITION_REST`
`private static int`	`ARM_POSITION_TACKLE`
`protected static String`	`CALIBRATION_FILE_COLOR_MOTOR`
`protected static String`	`CALIBRATION_FILE_COLOR_SENSOR`
`private static int[][]`	`COORDINATE_SCAN_ORDER`
`private static int[]`	`DEFAULT_WHITE_CALIBRATION`
`private static int`	`PROXIMITY_SENSOR_ERROR`
`private static int`	`PROXIMITY_SENSOR_THRESHOLD`
`private static int`	`SENSOR_CENTER_DEFAULT_DEGREE`
`protected static int`	`SENSOR_LIGHT_THRESHOLD`
`private static int`	`SENSOR_MOTOR_SPEED`
`protected static int`	`SENSOR_NUMBER_OF_SAMPLES`
`private static int`	`SENSOR_OUTER_ALLIGN_DEFAULT_DEGREE`
`private static int`	`SENSOR_OUTER_CORNER_DEFAULT_DEGREE`
`private static int`	`SHOW_OFF_TIME_MS`
`private static int`	`TRAY_MOTOR_DEFAULT_SPEED`
`private static int`	`TRAY_MOTOR_EXTRA_ROTATION`
`private static int`	`TRAY_MOTOR_ROTATION_FACTOR`
`private static int`	`TRAY_MOTOR_SCAN_SPEED`
`private static int`	`TRAY_SCAN_STEP_DEGREE`

Constructor Summary

Constructors
Constructor and Description

Robot()

Constructors
Constructor and Description
`Robot()`

Method Summary

Methods
Modifier and Type	Method and Description
`(package private) static void`	`delayMillisec(int delay)` Delay wrapper
`static void`	`finishSolve()` Show off routine, called once the cube is solved
`static void`	`flipCube(FlipMethod method)` Flip the cube
`static int[]`	`getCalibratedWhiteRgb()` Get the calibrated white threshold
`static void`	`init()` Initialize robot (open connection to NXT, load calibration data from previous calibrations and reset motors location)
`private static void`	`reset()` Reset motors location
`static void`	`rotateCube(Direction direction)` Rotate entire cube
`static void`	`scanFace(ArrayList<RawColor> allColors, Orientation orientation)` Scan cube's face
`static void`	`setTrayDefaultSpeed()` Set robot's tray to default speed
`static void`	`setTrayScanSpeed()` Set robot's tray to scanning speed
`static void`	`turnFace(Direction direction)` Rotate the face currently facing down
`static void`	`waitForCube()` Wait for cube to be placed on the tray

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - SHOW_OFF_TIME_MS
```
private static final int SHOW_OFF_TIME_MS
```
    See Also:
    Constant Field Values
  - ARM_MOTOR_DEFAULT_SPEED
```
private static final int ARM_MOTOR_DEFAULT_SPEED
```
    See Also:
    Constant Field Values
  - ARM_POSITION_HOLD
```
private static final int ARM_POSITION_HOLD
```
    See Also:
    Constant Field Values
  - ARM_POSITION_HOLD_EXTRA
```
private static final int ARM_POSITION_HOLD_EXTRA
```
    See Also:
    Constant Field Values
  - ARM_POSITION_TACKLE
```
private static final int ARM_POSITION_TACKLE
```
    See Also:
    Constant Field Values
  - ARM_POSITION_REST
```
private static final int ARM_POSITION_REST
```
    See Also:
    Constant Field Values
  - ARM_FLIP_DELAY_MS
```
private static final int ARM_FLIP_DELAY_MS
```
    See Also:
    Constant Field Values
  - SENSOR_MOTOR_SPEED
```
private static final int SENSOR_MOTOR_SPEED
```
    See Also:
    Constant Field Values
  - SENSOR_LIGHT_THRESHOLD
```
protected static final int SENSOR_LIGHT_THRESHOLD
```
    See Also:
    Constant Field Values
  - TRAY_MOTOR_ROTATION_FACTOR
```
private static final int TRAY_MOTOR_ROTATION_FACTOR
```
    See Also:
    Constant Field Values
  - TRAY_MOTOR_DEFAULT_SPEED
```
private static final int TRAY_MOTOR_DEFAULT_SPEED
```
    See Also:
    Constant Field Values
  - TRAY_MOTOR_EXTRA_ROTATION
```
private static final int TRAY_MOTOR_EXTRA_ROTATION
```
    See Also:
    Constant Field Values
  - TRAY_MOTOR_SCAN_SPEED
```
private static final int TRAY_MOTOR_SCAN_SPEED
```
    See Also:
    Constant Field Values
  - SENSOR_NUMBER_OF_SAMPLES
```
protected static final int SENSOR_NUMBER_OF_SAMPLES
```
    See Also:
    Constant Field Values
  - SENSOR_CENTER_DEFAULT_DEGREE
```
private static final int SENSOR_CENTER_DEFAULT_DEGREE
```
    See Also:
    Constant Field Values
  - SENSOR_OUTER_ALLIGN_DEFAULT_DEGREE
```
private static final int SENSOR_OUTER_ALLIGN_DEFAULT_DEGREE
```
    See Also:
    Constant Field Values
  - SENSOR_OUTER_CORNER_DEFAULT_DEGREE
```
private static final int SENSOR_OUTER_CORNER_DEFAULT_DEGREE
```
    See Also:
    Constant Field Values
  - TRAY_SCAN_STEP_DEGREE
```
private static final int TRAY_SCAN_STEP_DEGREE
```
    See Also:
    Constant Field Values
  - PROXIMITY_SENSOR_THRESHOLD
```
private static final int PROXIMITY_SENSOR_THRESHOLD
```
    See Also:
    Constant Field Values
  - PROXIMITY_SENSOR_ERROR
```
private static final int PROXIMITY_SENSOR_ERROR
```
    See Also:
    Constant Field Values
  - COORDINATE_SCAN_ORDER
```
private static final int[][] COORDINATE_SCAN_ORDER
```
  - DEFAULT_WHITE_CALIBRATION
```
private static final int[] DEFAULT_WHITE_CALIBRATION
```
  - CALIBRATION_FILE_COLOR_SENSOR
```
protected static final String CALIBRATION_FILE_COLOR_SENSOR
```
    See Also:
    Constant Field Values
  - CALIBRATION_FILE_COLOR_MOTOR
```
protected static final String CALIBRATION_FILE_COLOR_MOTOR
```
    See Also:
    Constant Field Values
- Constructor Detail
  - Robot
```
public Robot()
```
- Method Detail
  - init
```
public static void init()
```
    Initialize robot (open connection to NXT, load calibration data from previous calibrations and reset motors location)
  - reset
```
private static void reset()
```
    Reset motors location
  - delayMillisec
```
static void delayMillisec(int delay)
```
    Delay wrapper
    
    Parameters:
    delay - Delay time in millisec
  - getCalibratedWhiteRgb
```
public static int[] getCalibratedWhiteRgb()
```
    Get the calibrated white threshold
    
    Returns:
    The calibrated white threshold
  - setTrayScanSpeed
```
public static void setTrayScanSpeed()
```
    Set robot's tray to scanning speed
  - setTrayDefaultSpeed
```
public static void setTrayDefaultSpeed()
```
    Set robot's tray to default speed
  - scanFace
```
public static void scanFace(ArrayList<RawColor> allColors,
            Orientation orientation)
```
    Scan cube's face
    
    Parameters:
    allColors - List of all scanned colors
    orientation - Current cube orientation
    See Also:
    Orientation
  - flipCube
```
public static void flipCube(FlipMethod method)
```
    Flip the cube
    
    Parameters:
    method - Flip method
    See Also:
    FlipMethod
  - turnFace
```
public static void turnFace(Direction direction)
```
    Rotate the face currently facing down
    
    Parameters:
    direction - Turning direction
    See Also:
    Direction
  - rotateCube
```
public static void rotateCube(Direction direction)
```
    Rotate entire cube
    
    Parameters:
    direction - Rotate direction
    See Also:
    Direction
  - waitForCube
```
public static void waitForCube()
```
    Wait for cube to be placed on the tray
  - finishSolve
```
public static void finishSolve()
```
    Show off routine, called once the cube is solved

Class Robot

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

SHOW_OFF_TIME_MS

ARM_MOTOR_DEFAULT_SPEED

ARM_POSITION_HOLD

ARM_POSITION_HOLD_EXTRA

ARM_POSITION_TACKLE

ARM_POSITION_REST

ARM_FLIP_DELAY_MS

SENSOR_MOTOR_SPEED

SENSOR_LIGHT_THRESHOLD

TRAY_MOTOR_ROTATION_FACTOR

TRAY_MOTOR_DEFAULT_SPEED

TRAY_MOTOR_EXTRA_ROTATION

TRAY_MOTOR_SCAN_SPEED

SENSOR_NUMBER_OF_SAMPLES

SENSOR_CENTER_DEFAULT_DEGREE

SENSOR_OUTER_ALLIGN_DEFAULT_DEGREE

SENSOR_OUTER_CORNER_DEFAULT_DEGREE

TRAY_SCAN_STEP_DEGREE

PROXIMITY_SENSOR_THRESHOLD

PROXIMITY_SENSOR_ERROR

COORDINATE_SCAN_ORDER

DEFAULT_WHITE_CALIBRATION

CALIBRATION_FILE_COLOR_SENSOR

CALIBRATION_FILE_COLOR_MOTOR

Constructor Detail

Robot

Method Detail

init

reset

delayMillisec

getCalibratedWhiteRgb

setTrayScanSpeed

setTrayDefaultSpeed

scanFace

flipCube

turnFace

rotateCube

waitForCube

finishSolve