ecse211 - design principle methods

Readme file for the ecse 211 project

Class diagram of important classes as of lab 4

RobotConfiguration: contains a reference to all the important components such as:

• odometer
• Driver
• Ultrasond Poller
• Line Reader (uses the color sensor to detect line)
• LCDWriter

below explains each of the import classes.Note the following does not cover all of the classes but only the major structures.

classes

###Drivable defines common behavior of classes that can be used as motor drivers

###Driver abstract class that defines common behaviors related to motor movement. RisingEdge and fallingEdge are its subclasses.

###LocateOriginDriver extends Driver.it defines a more specific case of driver and contains the common behavior of risingEdge and fallingEdge.

RisingEdge/FallingEdge

Extend LocateOriginDriver, they are the concrete class that Implement Drivable

###UsPoller ultrasonic poller

LineReader

Reads the line on the ground using a colorSensor, the public method isPassedLine() returns true when a line has crossed. Problem with this is that other classes need to poll this value very frequently inorder to not miss a line. Possible improvement may be using Event Driven machanisms.

###LCDWriter writes on the LCD basically.only important values should be written on screen since RConsole has greater freedom in the length of the message. NOTE: this method should only be called in the main method, grouping the writeToScreen method together at one place will save a lot of trouble to find all of them...

###Monitor defines the behavior of writing to a display such as the LCD display.

###Odometer updates the currentLocation (an instance of Coordinate class) in the Configuration class(an concrete implementation of RoboConfig).

Future improvements

for lab 5 :

• make classes that implement threads singletons. Also make them instantiated from static factories to avoid having to keep a big configuration class. The threads should be instatiated (once and only once) implicitly by the factory methods and return to who ever calls it.
• RoboConfig should only contain current/destination/start coordinates and robot wheel sizes and such.
• not sure how event driven works but it seems the way to do if many object need to get the same data from lineReader

###lab 2

light sensor correction algo:

 move forward ;
boolean firstLineDetection = false ;

while (true){
      if (Odometer.getPositive() == true){
      	 firstLineDetection = true ;
      	 

lab 2 is currently done.

the final code is taged as lab2Done

line detection code is very solid and can be used for further projects