Page 256 - The Definitive Guide to Building Java Robots
P. 256

Preston_5564C07.fm  Page 237  Monday, September 26, 2005  5:38 AM



                                                                               CHAPTER 7  ■  NAVIGATION  237



                            In order for a robot to do this, it must accomplish the following:
                           • Move in a straight line.
                           • Face a specific direction.

                           • Move a specified distance.

                        Setup
                        Our robot will require the following to perform basic dead reckoning:

                           • SpeedDiffDrive.java (Chapter 4)
                           • A Compass Reading (Chapter 5)

                            To refresh the differential drive class and how it relates to movement, please see the
                        diagram in Figure 7-7.









































                        Figure 7-7. The SpeedDiffDrive class diagram from Chapter 2

                            Next, I decided not to calibrate our robot to move in a straight line since the speed control
                        and servo controllers send precise analog voltages to the motors. As long as your motors have
   251   252   253   254   255   256   257   258   259   260   261