https://github.com/ev3dev-lang-java/lejos-navigation
LeJOS local navigation stack
https://github.com/ev3dev-lang-java/lejos-navigation
ev3 ev3dev java lego lejos local-navigation mindstorms occupancy-grid-map path-planning robotics
Last synced: 10 months ago
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LeJOS local navigation stack
- Host: GitHub
- URL: https://github.com/ev3dev-lang-java/lejos-navigation
- Owner: ev3dev-lang-java
- License: gpl-3.0
- Created: 2017-04-10T22:55:46.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2017-09-06T17:42:28.000Z (over 8 years ago)
- Last Synced: 2025-01-08T08:46:25.566Z (12 months ago)
- Topics: ev3, ev3dev, java, lego, lejos, local-navigation, mindstorms, occupancy-grid-map, path-planning, robotics
- Language: Java
- Homepage:
- Size: 5.5 MB
- Stars: 2
- Watchers: 2
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
- License: LICENSE
Awesome Lists containing this project
README
# lejos-navigation
This library represent the local navigation stack from LeJOS project.
## What packages include?
The packages included in this library are:
- lejos.robotics.localization
- lejos.robotics.mapping
- lejos.robotics.navigation
- lejos.robotics.objectdetection
- lejos.robotics.pathfinding
## Getting Started
To start a new project with this library, add the following repository and dependency.
```xml
jitpack.io
https://jitpack.io
```
``` xml
com.github.ev3dev-lang-java
lejos-navigation
v0.1.0
```
Further information about the Maven dependency:
https://jitpack.io/#ev3dev-lang-java/lejos-navigation/v0.1.0
Now if you use EV3Dev + EV3Dev-lang-java, it is possible to enjoy with this kind of examples:
``` java
import ev3dev.utils.PilotProps;
import lejos.robotics.RegulatedMotor;
import lejos.robotics.navigation.DifferentialPilot;
import java.io.IOException;
public class PilotConfig {
private DifferentialPilot pilot;
public PilotConfig() throws IOException {
PilotProps pp = new PilotProps();
pp.loadPersistentValues();
float wheelDiameter = Float.parseFloat(pp.getProperty(PilotProps.KEY_WHEELDIAMETER));
float trackWidth = Float.parseFloat(pp.getProperty(PilotProps.KEY_TRACKWIDTH));
RegulatedMotor leftMotor = PilotProps.getMotor(pp.getProperty(PilotProps.KEY_LEFTMOTOR));
RegulatedMotor rightMotor = PilotProps.getMotor(pp.getProperty(PilotProps.KEY_RIGHTMOTOR));
boolean reverse = Boolean.parseBoolean(pp.getProperty(PilotProps.KEY_REVERSE));
//Special Stop modes from EV3Dev
leftMotor.brake();
rightMotor.brake();
System.out.println("Any button to start");
pilot = new DifferentialPilot(wheelDiameter, trackWidth, leftMotor, rightMotor, reverse);
//pilot.setAngularAcceleration();
pilot.setAngularSpeed(100);
//pilot.setLinearAcceleration();
pilot.setLinearSpeed(100);
int accel = 60;
//pilot.setAcceleration(accel);
}
public DifferentialPilot getPilot(){
return pilot;
}
}
```
``` java
import ev3dev.sensors.Button;
import ev3dev.sensors.ev3.EV3UltrasonicSensor;
import lejos.hardware.port.SensorPort;
import lejos.robotics.RangeFinderAdapter;
import lejos.robotics.navigation.DifferentialPilot;
import lejos.robotics.objectdetection.Feature;
import lejos.robotics.objectdetection.FeatureDetector;
import lejos.robotics.objectdetection.FeatureListener;
import lejos.robotics.objectdetection.RangeFeatureDetector;
import java.io.IOException;
public class FeatureAvoider2 {
static final float MAX_DISTANCE = 50f;
static final int DETECTOR_DELAY = 1000;
public static void main(String[] args) throws IOException {
final PilotConfig pilotConf = new PilotConfig();
final DifferentialPilot pilot = pilotConf.getPilot();
final EV3UltrasonicSensor ir = new EV3UltrasonicSensor(SensorPort.S1);
final RangeFeatureDetector detector = new RangeFeatureDetector(
new RangeFinderAdapter(ir.getDistanceMode()), MAX_DISTANCE, DETECTOR_DELAY);
detector.enableDetection(true);
pilot.forward();
detector.addListener(new FeatureListener() {
public void featureDetected(Feature feature, FeatureDetector detector) {
detector.enableDetection(false);
pilot.travel(-30);
pilot.rotate(30);
detector.enableDetection(true);
pilot.forward();
}
});
Button.waitForAnyPress();
}
}
```
## UML Diagram
## Open issues
- Chassis package is not included (Speak with Aswin & Andy)
- DifferentialPilot: (I have doubts with methods with arcs)
- Fusor detector (Possible concurrency problems)