Klasse feur die Scan-Funktion des Roboters Alle Interaktion mit der Hardware (außer Display) findet in dieser Klasse statt Motoren werden angesprochen und Sensoren ausgelesen Von Außen wird die Methode scanNewDataPoint angesprochen, welche einen Datenpunkt mit den benoetigten Merkmalen, aber unbestimmten Figur-Typ zurueckliefert. More...

Inheritance diagram for Scanner:

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Collaboration diagram for Scanner:

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Public Member Functions
	Scanner ()

IDataPoint	scanNewDataPoint ()
	scan whole image and calculate the characteristics of the objects More...

Static Public Attributes
static final int	resolution = 4

static final int	yMax = 900

static final int	xSpeed = 200

static final int	xAcceleration = 200

static final int	ySpeed = 500

static final int	yAcceleration = 500

static final int	minYAngle = 18

static final int	minXAngle = 3

static final int	startYDir = -1

static final int	startXDir = -1

static final int	sensorSamples = 5

static final double	rgbThreshold = 0.08

Private Member Functions
int[][]	readImage ()
	scan the whole picture. More...

int	getPixelColor ()
	read in sensor value and filter it More...

int	getYIndex (int i)
	calculates the y Index for the image buffer Depending on the direction the index must be calculated different because of the meander shape of scanning More...

void	turnXMotor (int xAnglePerPixel)
	turn the XMotor about given angle More...

void	turnYMotor (int yAnglePerPixel)
	turn the YMotor about given angle More...

void	returnToHome (int xAnglePerPixel, int yAnglePerPixel)
	return to the origin position after scanning image More...

void	invertDirection ()
	invert the direction flag 1 means rotate clockwise -1 means rotate counter-clockwise More...

String	debugImage (int[][] Image)
	print Image as String as Debug String More...

void	printImageOnLCD (int[][] image)
	prints Image on LCD display scale image to fit to the screen More...

IDataPoint	calculateCharacteristics (int[][] image)
	calculate the characteristics perimeter (sqared) and area of a given image More...

Private Attributes
int	pixel

int	dir

RegulatedMotor	XMotor

RegulatedMotor	YMotor

EV3ColorSensor	Sensor

SampleProvider	RgbSample

SampleProvider	RgbFilter

Detailed Description

Klasse feur die Scan-Funktion des Roboters Alle Interaktion mit der Hardware (außer Display) findet in dieser Klasse statt Motoren werden angesprochen und Sensoren ausgelesen Von Außen wird die Methode scanNewDataPoint angesprochen, welche einen Datenpunkt mit den benoetigten Merkmalen, aber unbestimmten Figur-Typ zurueckliefert.

Constructor & Destructor Documentation

Scanner ( )

References Scanner.startYDir.

Member Function Documentation

IDataPoint calculateCharacteristics ( int image[][] )

private

calculate the characteristics perimeter (sqared) and area of a given image

Parameters

image int buffer of the image

Returns: DataPoint with the characteristics perimeter and area

References Logger.log(), and Scanner.pixel.

Referenced by Scanner.scanNewDataPoint().

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String debugImage ( int Image[][] )

private

print Image as String as Debug String

References Scanner.pixel.

Referenced by Scanner.readImage().

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int getPixelColor ( )

private

read in sensor value and filter it

Returns: 0 for white 1 for black

References Logger.log(), and Scanner.sensorSamples.

Referenced by Scanner.readImage().

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int getYIndex ( int i )

private

calculates the y Index for the image buffer Depending on the direction the index must be calculated different because of the meander shape of scanning

Parameters

i	current position y Motor

Returns: index for the image buffer

Referenced by Scanner.readImage().

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void invertDirection ( )

private

invert the direction flag 1 means rotate clockwise -1 means rotate counter-clockwise

Referenced by Scanner.readImage().

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void printImageOnLCD ( int image[][] )

private

prints Image on LCD display scale image to fit to the screen

References Scanner.pixel.

Referenced by Scanner.readImage().

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int [][] readImage ( )

private

scan the whole picture.

This is done in a meander shape. See the following illustration (s is a scan, -> symbolize movement): s->s->s->s \/ s<-s<-s<-s \/ s->s->s->s \/ s<-s<-s<-s

This shows that for the reading of a line are one scan more is necessary than movements.

References Scanner.debugImage(), Scanner.getPixelColor(), Scanner.getYIndex(), Scanner.invertDirection(), Logger.log(), Scanner.pixel, Scanner.printImageOnLCD(), Scanner.resolution, Scanner.returnToHome(), Scanner.turnXMotor(), and Scanner.turnYMotor().