lejos_NXJ_win32_0_3_0alpha.zip

[nxt-jsp/lejos_nxj.git] / nxtOSEK / lejos_nxj / src / java / classes / lejos / navigation / TachoNavigator.java

diff --git a/nxtOSEK/lejos_nxj/src/java/classes/lejos/navigation/TachoNavigator.java b/nxtOSEK/lejos_nxj/src/java/classes/lejos/navigation/TachoNavigator.java
index 37de8d9..6dcaa3b 100644 (file)
--- a/nxtOSEK/lejos_nxj/src/java/classes/lejos/navigation/TachoNavigator.java
+++ b/nxtOSEK/lejos_nxj/src/java/classes/lejos/navigation/TachoNavigator.java
@@ -1,4 +1,5 @@
 package lejos.navigation;
+//import lejos.navigation.*;
 import lejos.nxt.Motor;
 
 /**
@@ -12,11 +13,12 @@ import lejos.nxt.Motor;
 public class TachoNavigator  implements Navigator
 { 
        // orientation and co-ordinate data
-       private float _heading = 0;
+       protected float _heading = 0;
        private float _x = 0;
        private float _y = 0;
        // The essential component
        public Pilot pilot;
+       
 /**
  * set false whenever the robot moves,  set to true by updatePosition();
  */
@@ -32,15 +34,18 @@ public class TachoNavigator  implements Navigator
 * of the right tire, in units of your choice
 * @param rightMotor The motor used to drive the right wheel e.g. Motor.C.
 * @param leftMotor The motor used to drive the left wheel e.g. Motor.A.
+* @param reverse  If motor.forward() dives the robot backwars, set this parameter true.
 */
+       public TachoNavigator(float wheelDiameter, float trackWidth, Motor leftMotor, Motor rightMotor, boolean reverse) 
+               {
+                       pilot = new Pilot(wheelDiameter,trackWidth,leftMotor, rightMotor,reverse);
+               }
+       
        public TachoNavigator(float wheelDiameter, float trackWidth, Motor leftMotor, Motor rightMotor) 
        {
                pilot = new Pilot(wheelDiameter,trackWidth,leftMotor, rightMotor);
        }
-          public TachoNavigator(float wheelDiameter, float trackWidth, Motor leftMotor, Motor rightMotor, boolean reverse) 
-       {
-               pilot = new Pilot(wheelDiameter,trackWidth,leftMotor, rightMotor,reverse);
-       }
+
           
           public TachoNavigator(Pilot pilot) {
                 this.pilot = pilot;
@@ -203,7 +208,7 @@ public class TachoNavigator  implements Navigator
        
        /**
         * Rotates the NXT robot a specific number of degrees in a direction (+ or -).
-        *  If immediateReturnis true, method returns immidiately and your code MUST call updatePostion()
+        *  If immediateReturn is true, method returns immidiately and your code MUST call updatePostion()
         * when the robot has stopped.  Otherwise, the robot position is lost. 
         * @param angle Angle to rotate in degrees. A positive value rotates left, a negative value right.
         * @param immediateReturn iff true, the method returns immediately, in which case the programmer <br>
@@ -225,8 +230,7 @@ public class TachoNavigator  implements Navigator
     */
    public void rotateTo(float angle) 
        {
-        float turnAngle = normalize( angle - _heading);
-       rotate(turnAngle,false);
+        rotateTo(angle,false);
    }
 
    /**