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Overview of iCommand API for Robotics: Motors, Sensors, and Thread.sleep()

This note set provides a comprehensive overview of the iCommand API, which is essential for programming interactions with robotics components. It includes the use of motors (e.g., Motor A and Motor B) and various sensors (LightSensor, TouchSensor, UltrasonicSensor). The documentation link to the iCommand library details different objects and levels of abstraction you can implement. Key examples demonstrate how to control motors and read sensor inputs using Java syntax, including methods like `Thread.sleep()` to manage time delays in execution, providing an essential foundation for robotics programming.

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Overview of iCommand API for Robotics: Motors, Sensors, and Thread.sleep()

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  1. CSE 1341 Honors Professor Mark Fontenot Southern Methodist University Note Set 11

  2. Overview • The iCommand API • Motors • Sensors • Thread.sleep()

  3. iCommand API • API = Application Programming Interface • See …/icommand-0.7/docs/api/index.html • Documentation for the complete iCommand library • Shows all of the different objects that you can create in order to interact with your robot. • There are different “levels of abstraction” you can use as well.

  4. iCommand API • Some objects/classes to review: • Library icommand.nxt • LightSensor • TouchSensor • UltrasonicSensor • Motor • Library icommand.navigation • Pilot • TachoNavigator

  5. Working Directly with the Motors Motor.A.forward(); move whatever motor is connected to motor port A on the brick in a forward direction Motor.A.stop(); stop whatever motor is connected to motor port A on the brick

  6. Sensors – TouchSensor Example what port the sensor is connected to… TouchSensor touch = new TouchSensor(SensorPort.S1); Create a new touch sensor object and call it touch. touch is an object reference variable that allows you to “talk to” the touch sensor. Example: touch.isPressed(); //returns a boolean… //can be used in an if statement if (touch.isPressed()) { //do something } Might be better in a While loop so that it continually tests the sensor to see if its pressed: while (touch.isPressed()) { //do something }

  7. Touch Sensor TouchSensor touch = new TouchSensor(SensorPort.S1); Motor.A.forward();//Start A motor //Don’t do anything while the touch sensor isn’t //pressed. just loop... while (!touch.isPressed()) System.out.println("Touch Sensor Not Pressed"); Motor.A.stop(); //Stop A motor

  8. Thread.sleep(intval) • Tells your program to “sleep” for a certain amount of time • In milliseconds public static void main (String [] args) throws Exception { Motor.A.forward(); Thread.sleep(5000); // sleep for 5 seconds Motor.B.stop(); } Needs to be added to any method that uses Thread.sleep()

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