Robot Programming Mobile Robot Classes

Some classes useful for robot sensing, map abstraction and localisation in leJOS which you can use in Exercise 4.

Getting the code

To use this code in your project you first need to clone the project into your Eclipse workspace. The following assumes you use the directory ~/workspace as your Eclipse workspace as it is the default value. If this is not true, then replace this directory with the correct one for you.

1. Open a terminal
2. Change into your workspace directory: cd ~/workspace
3. Clone this project using Git: git clone https://github.com/hawesie/rp14-exercise4
4. In Eclipse, create a new leJOS PC project with the name rp14-exercise4. This should automatically find the sources you just cloned. You could also create a standard Java project for this code.

If this project does not compile because it is missing any lejos.* packages this means that the leJOS PC jar was not added correctly. This happens to me, so it might happen to you too. This will also happen if you just created a standard Java project. To add the leJOS PC jar go to Project Properties, select Java Build Path, and click on the Libraries tab. From here click Add Library... select LeJOS Library Container then select platform PC Libraries and hit Finish.

Dependencies

For references to rp.robotics.mapping.NicksGridMap to be found, you must add the file rp14-exercise4/lib/rp14-solutions.jar to the build path of your project. To do thisgo to Project Properties, select Java Build Path, and click on the Libraries tab. From here click Add External Jars... then find and select the aforementioned jar file.

For rp.robotics.mapping.GridMapTest (under src-test) to compile, you must add TestNG support to your project. Assuming you have already installed the TestNG Eclipse Plugin, go to Project Properties, select Java Build Path, and click on the Libraries tab. From here click Add Library... select TestNG and hit Finish.

Using the code

You should develop your own code in a separate project to rp14-exercise4 as this will allow you to easily update the provided code if necessary. To do this, use the Java Build Path entry in your other project's properties, and Add... the rp14-exercise4 project under the Projects tab.

The interfaces are only provided as a guideline. If you want to ignore them, or change them (for the better), please feel free to do so. If you wish to change them, you can fork this repository to create your own copy.

The following classes demonstrate the uses of the code from this repositoru:

• rp.robotics.visualisation.SimulationViewer shows the simple simulation in action.

Fixing bugs

If you find any bugs in my code, please open an issue or create a pull request with the fix.