/*
* Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
*
* This program is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License as published by the Free Software
* Foundation; either version 2 of the License, or (at your option) any later
* version.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
* details.
*
* You should have received a copy of the GNU General Public License along with
* this program; if not, write to the Free Software Foundation, Inc., 59 Temple
* Place, Suite 330, Boston, MA 02111-1307 USA
*
* -----------------------------------------------------------------------------
* $Author: sioulseuguh $
* $Date: 2005/01/27 22:08:44 $
* $Source: /cvsroot/simbad/src/simbad/demo/DifferentialKinematicDemo.java,v $
*/
package simbad.demo;
import javax.vecmath.Vector3d;
import javax.vecmath.Color3f;
import javax.vecmath.Vector3f;
import simbad.sim.*;
/** A differential drive (two wheels) kinematic demo. This demo demonstrates the usage of
* the DifferentialKinematic instead of the standard one.
*
**/
public class DifferentialKinematicDemo extends Demo {
public class Robot extends Agent {
DifferentialKinematic kinematic;
int state;
public Robot(Vector3d position, String name) {
super(position, name);
// Change the kinematic to differentialDrive
kinematic = RobotFactory.setDifferentialDriveKinematicModel(this);
}
/** Initialize Agent's Behavior */
public void initBehavior() {
state =0;
}
/** Perform one step of Agent's Behavior */
public void performBehavior() {
// here we do not use SetTranslationalVelocity and SetRotationalVelocity.
// Instead we control directly the wheels velocity.
// We need to use the kinematic object to do so.
if (getCounter()% 300==0){
switch(state){
// turn right
case 0: kinematic.setWheelsVelocity(0.8,0.5);break;
// turn left
case 1: kinematic.setWheelsVelocity(0.5,0.8);break;
case 2: kinematic.setWheelsVelocity(-0.8,0.5);break;
// on place
case 3: kinematic.setWheelsVelocity(0.8,0);break;
// forward
case 4: kinematic.setWheelsVelocity(0.1,0.1);break;
// backward
case 5: kinematic.setWheelsVelocity(-0.5,-0.5);state=-1;break;
}
state++;
}
if (collisionDetected()) moveToStartPosition();
}
}
public DifferentialKinematicDemo() {
boxColor = new Color3f(0.6f,0.5f,.3f);
add(new Box(new Vector3d(-8,0,0),new Vector3f(0.1f,1,16),this));
add(new Box(new Vector3d(0,0,-8),new Vector3f(16,1,0.1f),this));
add(new Box(new Vector3d(8,0,0),new Vector3f(0.1f,1,16),this));
add(new Box(new Vector3d(0,0,8),new Vector3f(16,1,0.1f),this));
// Add a robot.
add(new Robot(new Vector3d(0, 0, 0),"my robot"));
}
}