Class RobotXYAxisStraightness

java.lang.Object
  RobotXYAxisStraightness

 class RobotXYAxisStraightness
extends java.lang.Object

The class RobotXYAxisStraightness provides a method for getting the straightness of the AF2 robot, at a particular XY position based on the data read in from the af2_straightness.dat file.

Field Summary

private int	centreIndex
private java.util.List	straightnessDataX
private java.util.List	straightnessDataY
private java.lang.String	straightnessFileName

Constructor Summary

RobotXYAxisStraightness()
Constructor

Method Summary

(package private) java.awt.Point	getStraightnessCorrectedPosition(java.awt.Point theRobotPosition) Get the robot's position corrected for straightness of the X and Y axes
private void	loadFromFile() Load the X and Y axis straightness data from file

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

straightnessFileName

private final java.lang.String straightnessFileName

See Also:

Constant Field Values

straightnessDataX

private java.util.List straightnessDataX

straightnessDataY

private java.util.List straightnessDataY

centreIndex

private int centreIndex

Constructor Detail

RobotXYAxisStraightness

RobotXYAxisStraightness()

Constructor

Method Detail

getStraightnessCorrectedPosition

java.awt.Point getStraightnessCorrectedPosition(java.awt.Point theRobotPosition)

Get the robot's position corrected for straightness of the X and Y axes

Parameters:

theRobotPosition - The robot's position before straightness correction

Returns:

the robot's position corrected for straightness

loadFromFile

private void loadFromFile()

Load the X and Y axis straightness data from file