Robot Test 1

Download source: robotsrc1.zip or JAR file RobotTest1.jar

This app tests robot motion by executing three cases:

1. rotation about center
2. rotation about one wheel
3. general rotation

Reference

RobotTest1.java

See Robot.java

import javafx.animation.Animation;
import javafx.application.Application;
import javafx.stage.Stage;
import javafx.animation.KeyFrame;
import javafx.animation.Timeline;
import javafx.event.ActionEvent;
import javafx.event.EventHandler;
import javafx.scene.Scene;
import javafx.scene.Group;
import javafx.scene.Node;
import javafx.scene.shape.*;
import javafx.scene.layout.Pane;
import javafx.scene.layout.BorderPane;
import javafx.scene.control.Label;
import javafx.scene.paint.Color;
import javafx.util.Duration;
import javafx.collections.*;
import java.util.*;


public class RobotTest1 extends Application
{

    @Override // Override the start method in the Application class
    public void start(Stage primaryStage) 
    {
	// Create a pane 
	TestPanel pane = new TestPanel();
    	// Create a handler for animation
    	EventHandler<ActionEvent> eventHandler = e -> {
		pane.update();
     };

    // Create an animation
    Timeline animation = new Timeline(
        new KeyFrame(Duration.millis(50), eventHandler));
        animation.setCycleCount(Timeline.INDEFINITE);
        animation.play(); // Start animation

    BorderPane layout = new BorderPane();
    Label label = new Label();
    pane.status = label;
    pane.showVelocity();
    layout.setCenter(pane);
    layout.setBottom(label);

 
   // Create a scene and place it in the stage
    Scene scene = new Scene(layout, 440, 460);
    primaryStage.setTitle("Robot test 1"); // Set the stage title
    primaryStage.setScene(scene); // Place the scene in the stage
    primaryStage.show(); // Display the stage

    }
    public static void main(String args[] )
    {
 	launch(args);
    }
}

class TestPanel extends Pane
{
    int wait;
    double wd, ht;
    Robot  robot;
    double simtime = 0.0;
    int stage = 0;

    Label status;
    
    TestPanel()
    {
	Path p = new Path();
	ObservableList<PathElement> pe = p.getElements();

	for (int n=0; n<9; n++) {
	    pe.add(new MoveTo(10,10+n*50));
	    pe.add(new LineTo(410,10+n*50));
	    pe.add(new MoveTo(10+n*50,10));
	    pe.add(new LineTo(10+n*50,410));
        }
	p.setStroke(Color.RED);
	getChildren().add(p);

	robot = new Robot(210,210,6,-6,Color.rgb(120,120,255));
	robot.draw(this);	
    }

    public void showVelocity() {
	status.setText("   " + robot.showVelocity());
    }


    public void update()
    {
	wd = getWidth();
	ht = getHeight();
	double tstep, tmore;
	tmore = 1.0;
	/*
	while (tmore>0.0) {
	tmore = 0.0;
	}
	*/
	robot.move(0.05);
	simtime = simtime + 0.05;
	if (simtime>12*Math.PI && stage==2) {
		stage = 0;
		simtime = 0;
		robot.setPose(210,210,0);
		robot.setVelocity(6,-6);
		showVelocity();
	}
	else if (simtime>8*Math.PI && stage==1) {
		stage = 2;
		robot.setPose(210,210,0);
		robot.setVelocity(47,53);
		showVelocity();
	}
	else if (simtime>4*Math.PI && stage==0) {
		stage = 1;
		robot.setPose(210,204,0);
		robot.setVelocity(0,6);
		showVelocity();
	}
    }
}

Maintained by John Loomis, updated Tue Feb 20 17:35:20 2018