## lejos.robotics.proposal Interface ArcPilot

All Superinterfaces:
BasicPilot, MovementProvider
All Known Subinterfaces:
ArcRotatePilot
All Known Implementing Classes:
CarefulDifferentialPilot, DifferentialPilot, SteeringPilot

public interface ArcPilot
extends BasicPilot

An enhanced Pilot that is capable of traveling in arcs.

Author:
NXJ Team

Method Summary
Starts the NXT robot moving along an arc with a specified radius.
Movement arc(float radius, float angle)
Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving.
Movement arc(float radius, float angle, boolean immediateReturn)
Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving.
The minimum steering radius this vehicle is capable of when traveling in an arc.
Set the radius of the minimum turning circle
Movement travelArc(float radius, float distance)
Moves the NXT robot a specified distance along an arc mof specified radius, after which the robot stops moving.
Movement travelArc(float radius, float distance, boolean immediateReturn)
Moves the NXT robot a specified distance along an arc of specified radius, after which the robot stops moving.

Methods inherited from interface lejos.robotics.proposal.BasicPilot
backward, forward, getMoveMaxSpeed, getMovementIncrement, getMoveSpeed, isMoving, setMoveSpeed, stop, travel, travel

Methods inherited from interface lejos.robotics.MovementProvider

Method Detail

The minimum steering radius this vehicle is capable of when traveling in an arc. Theoretically this should be identical for both forward and reverse travel. In practice?

Returns:
the radius in degrees

Set the radius of the minimum turning circle

Parameters:

### arc

Starts the NXT robot moving along an arc with a specified radius.

If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
If radius is zero, the robot rotates in place.

Postcondition: Motor speeds are unpredictable.

Note: If you have specified a drift correction in the constructor it will not be applied in this method.

Parameters:
radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.

### arc

float angle)
Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving. This method does not return until the robot has completed moving angle degrees along the arc.

If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
If radius is zero, is zero, the robot rotates in place.

Robot will stop when the degrees it has moved along the arc equals angle.
If angle is positive, the robot will move travel forwards.
If angle is negative, the robot will move travel backwards. If angle is zero, the robot will not move and the method returns immediately.

Postcondition: Motor speeds are unpredictable.

Note: If you have specified a drift correction in the constructor it will not be applied in this method.

Parameters:
radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
angle - The sign of the angle determines the direction of robot motion. Positive drives the robot forward, negative drives it backward.
travelArc(float, float)

### arc

float angle,
boolean immediateReturn)
Moves the NXT robot along an arc with a specified radius and angle, after which the robot stops moving. This method has the ability to return immediately by using the immediateReturn parameter.

If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
If radius is zero, is zero, the robot rotates in place.

The robot will stop when the degrees it has moved along the arc equals angle.
If angle is positive, the robot will move travel forwards.
If angle is negative, the robot will move travel backwards. If angle is zero, the robot will not move and the method returns immediately.

Postcondition: Motor speeds are unpredictable.

Note: If you have specified a drift correction in the constructor it will not be applied in this method.

Parameters:
radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
angle - The sign of the angle determines the direction of robot motion. Positive drives the robot forward, negative drives it backward.
immediateReturn - If immediateReturn is true then the method returns immediately and your code MUST call updatePostion() when the robot has stopped. Otherwise, the robot position is lost.
travelArc(float, float, boolean)

### travelArc

float distance)
Moves the NXT robot a specified distance along an arc mof specified radius, after which the robot stops moving. This method does not return until the robot has completed moving distance along the arc. The units (inches, cm) for distance must be the same as the units used for radius.

If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
If radius is zero, the robot rotates in place

The robot will stop when it has moved along the arc distance units.
If distance is positive, the robot will move travel forwards.
If distance is negative, the robot will move travel backwards. If distance is zero, the robot will not move and the method returns immediately.

Postcondition: Motor speeds are unpredictable.

Note: If you have specified a drift correction in the constructor it will not be applied in this method.

Parameters:
radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
distance - to travel, in same units as radius. The sign of the distance determines the direction of robot motion. Positive drives the robot forward, negative drives it backward.
arc(float, float)

### travelArc

float distance,
boolean immediateReturn)
Moves the NXT robot a specified distance along an arc of specified radius, after which the robot stops moving. This method has the ability to return immediately by using the immediateReturn parameter. The units (inches, cm) for distance should be the same as the units used for radius. Warning: Your code must call updatePostion() when the robot has stopped, otherwise, the robot position is lost.

If radius is positive, the robot arcs left, and the center of the turning circle is on the left side of the robot.
If radius is negative, the robot arcs right, and the center of the turning circle is on the right side of the robot.
If radius is zero, ...

The robot will stop when it has moved along the arc distance units.
If distance is positive, the robot will move travel forwards.
If distance is negative, the robot will move travel backwards. If distance is zero, the robot will not move and the method returns immediately.

Postcondition: Motor speeds are unpredictable.

Note: If you have specified a drift correction in the constructor it will not be applied in this method.

Parameters:
radius - of the arc path. If positive, the left side of the robot is on the inside of the turn. If negative, the left side of the robot is on the outside of the turn.
distance - to travel, in same units as radius. The sign of the distance determines the direction of robot motion. Positive drives the robot forward, negative drives it backward.
immediateReturn - If immediateReturn is true then the method returns immediately and your code MUST call updatePostion() when the robot has stopped. Otherwise, the robot position is lost.